Finite-time robust-tracking and model-following controller for uncertain dynamical systems

This paper presents sliding mode control to achieve finite-time robust-tracking and model-following for uncertain dynamical systems with time-varying state-delays and disturbances. The selection of sliding surface and the existence of the sliding mode are two significant issues, which have been addressed. The control law is designed to guarantee the existence of the sliding mode around the linear sliding surface in finite time. Simulation results are presented to show the efficiency of the proposed scheme as a promising way for controlling similar nonlinear systems.