Sliding mode control of uncertain input-delay systems

A sliding mode control design is proposed for a class of uncertain input-delay systems based on transformation that converts the original system into a delay-free form. It is shown that asymptotic stability of the transformed system guarantees the asymptotic stability of the original system. The reaching condition and the asymptotic stability are assured through a proper choice of the switching function and the controller parameters. The advantages over state feedback are discussed along with an approach for reducing the problem of chattering