Adaptive multiple input delays compensation under input constraints applied to perimeter traffic control

Pragmatic design method of direct model reference adaptive control (MRAC) under input constraints for a class of systems with multiple input delays based only on the lumped-delays is developed. To overcome the difficulty to directly predict the plant state, a control design is proposed relies on a decomposition of the adaptive control design procedure where a “generalized error”, and auxiliary linear Smith-like dynamic units with adjustable gains are introduced. The effect of such a decomposition is to pull the input delays out at the first step of the design procedure. Simulation results of a coupled perimeter control of two interacting aggregate urban traffic regions are presented.