On asymptotic stabilization of feedback linearizable nonlinear systems with a delay in the input by using sliding-surface

In this paper, we consider a stabilization problem of a class of feedback linearizable nonlinear systems with a delay in the input. In the considered system, the nonlinear function cannot be directly canceled by the input due to time-delay, generally. So, the traditional idea of canceling and subtraction approach cannot be used. We design a stabilizing controller by utilizing a scaled sliding-surface and show that the control results are such that some large delay can be allowed in the input depending on the types of nonlinear function.