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A fully linearizable SISO relative degree n system with an output time delay is considered in this paper. Using the approach of Pade approximation, system centre approach and second order sliding mode (in short SM) control, we have obtained good output tracking results. Smith Predictor is used to compensate the difference between the actual delayed output and its approximation. A second order super-twisting SM observer is used to observed the disturbance in the plant.
Date of Conference: 8-10 June 2008