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An output-feedback sliding mode controller is proposed for multivariable nonlinear systems with time-varying state delays and unmatched uncertainties. The control strategy is based on unit vector control and a novel norm observer for the unmeasured state of time-delay systems. This approach guarantees global stability of the closed-loop system, exponential convergence of the output error and exact tracking of the reference signal. In addition, less restrictive conditions on the high frequency gain matrix are obtained.
Date of Conference: 12-15 Dec. 2011