Synthesized sliding mode and time-delay control for a class of uncertain systems

In this note, the sliding mode control (SMC) is incorporated with time-delay control (TDC) during the sliding phase to reduce the switching gain. TDC identifies the unknown system dynamics and disturbance directly for every time-delay. For a system with a lumped perturbation which is relatively slow varying with respect to the sampling interval, a much low switching gain can be used if a reasonably good estimate of the derivative of system state can be obtained using the past information, hence chattering can be reduced or eliminated while retaining the tracking accuracy. (C) 2000 Elsevier Science Ltd. All rights reserved.