Adaptive-Robust Control with Limited Knowledge on Systems Dynamics

An Artificial Input Delay Approach and Beyond

  • Spandan Roy
  • Indra Narayan Kar

Part of the Studies in Systems, Decision and Control book series (SSDC, volume 257)

Table of contents

  1. Front Matter
    Pages i-xx
  2. Spandan Roy, Indra Narayan Kar
    Pages 1-21
  3. Spandan Roy, Indra Narayan Kar
    Pages 23-39
  4. Back Matter
    Pages 143-144

About this book


The book investigates the role of artificial input delay in approximating unknown system dynamics, referred to as time-delayed control (TDC), and provides novel solutions to current design issues in TDC. Its central focus is on designing adaptive-switching gain-based robust control (ARC) for a class of Euler–Lagrange (EL) systems with minimal or no knowledge of the system dynamics parameters. The newly proposed TDC-based ARC tackles the commonly observed over- and under-estimation issues in switching gain. The consideration of EL systems lends a practical perspective on the proposed methods, and each chapter is supplemented by relevant experimental data.

The book offers a unique resource for researchers in the areas of ARC and TDC alike, and covers the state of the art, new algorithms, and future directions.


Adaptive-robust Control Artificial Time Delay Euler-Lagrange Systems State-derivative Estimation Adaptive-Robust Time-Delayed Control

Authors and affiliations

  • Spandan Roy
    • 1
  • Indra Narayan Kar
    • 2
  1. 1.Robotics Research CenterInternational Institute of Information TechnologyHyderabadIndia
  2. 2.Department of Electrical EngineeringIndian Institute of Technology DelhiNew DelhiIndia

Bibliographic information