Robust sliding mode control for a class of nonlinear systems using inertial delay control

This paper proposes a robust sliding mode control strategy for an uncertain nonlinear system subjected to time-varying disturbance. The class of system considered includes state-dependent nonlinearity in the input vector (in addition to the plant matrix). The control scheme uses inertial delay control to estimate the lumped uncertainty. The proposed control enforces sliding without using the discontinuous control and without requiring the knowledge of uncertainties or their bounds. The overall stability of the system is proved. The effectiveness of the proposed strategy is verified for model following and robust performance, by simulation of an illustrative example and an application to inverted pendulum system.