DYNAMIC OUTPUT FEEDBACK SLIDING MODE CONTROL FOR UNCERTAIN SYSTEMS WITH STATE AND INPUT DELAYS

Abstract

This paper presents a methodological approach to design dynamic output feedback sliding mode control for a class of mismatched uncertain systems with state and input delays. A new switching surface is proposed and a state observer is employed to reconstruct the sliding mode control action. Based on the improved Lyapunov function and linear matrix inequality (LMI) technique, the stability of the overall closed-loop uncertain time-delay system under the proposed control scheme is guaranteed without the state transformation. Furthermore, the state observer and control law can be constructed from the positive-definite solutions of two LMIs, the design technique is simple and computationally efficient. The validity of the proposed control methodology is demonstrated by simulation results.