Continuous Sliding Mode Control for Systems Subjected to Nonlinear Multiple Time-Varying Delayed Perturbations.

This paper is concerned with the problem of robust stabilization by a continuous sliding mode controller(CSMC)for systems subjected to nonlinear multiple time-varying delayed perturbations. A simple robust stability condition to test the stability of the sliding mode and a CSMC have been recently developed for multiple time-varying delayed systems. The effect of delayed perturbations in the sliding mode are discussed by seperating them into matching and unmatching conditions. This stability condition is less conservative than those derived in the literature, and chattering is removed due to the CSMC. Examples are included to illustrate our results.