Adaptive control algorithms in MIMO linear systems with control delay

In this paper we present two adaptive state control algorithms for the class of linear multi-input multi-output plants under external disturbances and the presence of control delay. Reference signal and external disturbance are considered as multi-harmonic signals with unknown frequencies, amplitudes, and initial phases. The algorithms are developed using the direct adaptive control method based on the internal model principle and do not require identification of disturbance parameters and/or the reference signal.