This research project deals with design and implementation of time-delay control theory for linear and nonlinear systems. The technique combines parametric adaptation, past observations to directly estimate the effect of plant dynamics, state feedback and command feedforward signals to achieve proper command following. The basic function of the controller is to observe the system present, and delayed input and output responses at each sampling time, and then modify the control actions directly rather than using a model-based forward term or adjusting controller gains as is commonly done in other methods. The results of this research could potentially benefit control of systems with unknown dynamics and unpredictable disturbances such as undersea vehicles and robotic manipulators. In addition, significant contributions could be made to the areas of learning control and intelligent control also.*** //
