Robust stabilization of uncertain input-delay systems by sliding mode control with delay compensation

Abstract

In this paper, a sliding mode control is proposed for the robust stabilization of uncertain linear input-delay systems with nonlinear parametric perturbations. The proposed sliding surface includes a predictor to compensate for the input delay of the system. A robust control law is derived to ensure the existence of a sliding mode and to overcome the effects of the delay and uncertainty in the sliding mode. A numerical example is given to illustrate the design procedure and results of the proposed approach. (C) 1999 Elsevier Science Ltd. All rights reserved.