Self-tuning control of systems with unknown time delay via extended polynomial identification

Much of the work reported on self-tuning control addresses the class of systems with known time delay. In this paper, the continuous time self-tuning control algorithm is extended to systems with unknown or varying time delay. The original polynomial identification is further modified in this paper to estimate both poles, zeros, and unknown time delay. An explicit self-tuner is then designed based on the estimated parameters. Experimental studies are used to evaluate the performance of this algorithm.