PIFD Adaptation Mechanism on MRAC with Input Time Delay Plant

In this paper, model reference adaptive control (MRAC) with different adaptation mechanisms was designed and compared using Lyapunov based approach. These methods could be called as classical MRAC, MRAC with PI and PI + filtered derivative adaptation (PIFD) mechanisms. The input time delay is an important constraint on MRAC. The time delay margin (TDM) and performance of the transient response of the MRAC with different adaptation mechanisms were compared. The highest time delay margin is obtained by MRAC with the PIFD adaptation mechanism.