A modification to the control framework for uncertain systems with actuator delays is presented. Specifically, a time delay is introduced in the control input of the state predictor to compensate for the destabilising effect of an input delay in the plant. For this modified framework, the analysis shows that the output of the adaptive system closely follows the behaviour of a suitably defined, non‐adaptive, stable reference system provided that a delay‐dependent stability condition is satisfied and the adaptive ga…