Sliding mode predictive control of linear uncertain systems with delays

Abstract

In this paper, a continuous control strategy for robust stabilization of a class of uncertain multivariable linear systems with delays in both the state and control variables is proposed. A predictor is designed to compensate the delay effect in the control input, and then an integral sliding mode control technique along with super-twisting algorithm is applied to compensate partially the effect of the perturbation term. Finally, a nominal delay-free part of the control input is designed to stabilize the sliding mode dynamics. The proposed control scheme is extended to the class of systems modeled in Regular form. For this class of perturbed systems with delay in the state, a transformation to the systems with the delay-free state is proposed. The stability conditions of the closed-loop uncertain system are derived, and the results obtained in this work are compared against previous works. To show the effectiveness of the proposed method, simulation results are presented.