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This paper deals with a robustly stable adaptivepole-placement-based controller for time-delay linear systems withunknown point delays within known intervals of sufficiently smalllengths under unmodeled dynamics and bounded disturbances. Amultiestimation scheme is used to improve the identification errorand then to deal with possible errors between the truebasic delays compared to that used in the regressor of theadaptive scheme. Each estimation scheme possess a relative deadzone for each estimation scheme which freezes the adaptation forsmall sizes of the adaptation error compared with the estimatedsize of the contribution of the uncertainties to the filteredoutput. All the estimation schemes run in parallel but only that,which is currently in operation, parameterizes the adaptivecontroller to generate the plant input at each time. A supervisoryscheme chooses in real time the appropriate estimator subject to aminimum residence time which is the tool to ensure closed-loopstability under switching between the estimators in the estimationscheme. The dead zone adaptation mechanism prevents theclosed-loop system against potential instability caused byuncertainties

Adaptive control of time-invariant systems with discrete delays subject to multiestimation