A.K. Ishihara, S. Ben-Menahem, and N. Nguyen (USA)
Time Delay Margin, Adaptive Control, Razumikhin Method
In this note, we present a time delay margin estimation technique applicable to the direct adaptive control of an unknown plant. Using the Razumikhin method, we are able to compute an estimate of the time delay margin in which we conclude that for all delays less than this margin, the system is guaranteed to be semi-globally uniformly bounded. Using this method, we are able to derive regions in the parameter space (learning rates, gains, etc.) for which the system is guaranteed to be bounded for all time-delays less than the time-delay margin. We present simulation examples that illustrate the method.
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