Time delay estimation error may decrease the linearization performance of adaptive predistortion for radio frequency(RF) power amplifier. Theory analysis of delay error estimation is made and results show that the predistoter converges at a delay version of the theory value considering the existence of the delay estimation error. And a memory polynomial model is proposed for the predistorter. Simulation results demonstrate that memory polynomial model is more robust to delay estimation error than the general nonlinear polynomial model.