My objective is to track the time varying delay and at the same time design a robust control for the system under time varying delay and multiple delay under uncertain conditions.
Generally we use for this problem robust technique such as H∞ Control, LMI, Lyapunov-Krasovskii... For traiting this problem i suggest you to see links and attached file in topic.
-Stability of teleoperation systems under time-varying delays by using ...
Lei, L. & Benli, W. 2008. Multi objective robust active vibration control for flexure
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Sun, W., Zhao, Z. & Gao, H. 2013. Saturated adaptive robust control for active suspension systems. Industrial Electronics, IEEE Transactions on 60(9): 3889–3896. doi:10.1109/TIE.2012.2206340.
Krause, J., Athans, M., Sastry, S.S. & Valavani, L. 1983. Robustness studies in adaptive control. The 22nd IEEE Conference on Decision and Control, pp. 977–981.