Sliding mode adaptive following of nonlinear plants with unknown state delay

In this paper, we develop a sliding mode model reference adaptive control (MRAC) scheme for a class of nonlinear dynamic systems with state delay which is robust with respect to an unknown plant delay, to a nonlinear perturbation, and to an external disturbance with unknown bounds. An appropriate Lyapunov-Krasovskii type functional is introduced to design the adaptation algorithms, and the stability proof.