Abstract
It is well known that arbitrary small delays in the sliding mode control lead to oscillations and the systems may even become unstable for a greater values of the delay. Output feedback sliding mode control of systems with bounded matched disturbances is considered under small time-varying input delay, which is unavoidable in the feedback. The design objective is to achieve ultimate boundedness of the closed-loop system with the bound proportional to the delay and to the disturbance bounds. Sliding mode controller with a high linear gain is proposed, which leads to the closed-loop singularly perturbed system. An LMI-based solution for evaluation of the design parameters and of the resulting ultimate bound is derived by using different Lyapunov-based methods.
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