This paper aims to formulate an adaptive control framework capable of producing desirable tracking performance for uncertain nonlinear systems with an unknown delay in the control input and a nonlinear control coefficient matrix. Since the control framework inherits common components of the classical model-reference adaptive controller (MRAC), it is easy to implement with a low barrier to entry. In addition, the work shows that the deviation of the state of the proposed control scheme from an ideal dynamics system is bounded given that the delays are within a certain margin. Simulation results are presented to illustrate the theoretical contribution and demonstrate the efficacy of the proposed controller in comparison with an existing competing controller. The limitation of this control framework is also discussed with a suggestion for overcoming the limitation toward the end of the paper.
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