Discrete-time sliding mode control for robust tracking and model following of systems with state and input delays

This paper presents a novel robust tracking and model following control scheme for a class of linear systems with mismatched state and input delays. The algorithm is based on discrete-time sliding mode control (SMC) and time-delay control theory. The proposed scheme ensures the stability and robustness against time delays without state transformation, and achieves the ultimate boundedness of the tracking error. The selection of sliding surface and the existence of sliding mode are two important issues, which have been addressed. Chattering phenomenon and reaching phase are avoided. Simulation results demonstrate the validity of the proposed scheme.