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This paper proposes a discrete second order sliding mode control with a new sliding surface ensuring the asymptotic stability of the time-delay systems. This new surface include a present and a past value of the state, called dynamic surface, designed by means of linear matrix inequality (LMI). A robust second order sliding mode controller with this new surface is proposed to ensure the reduction of the chattering introduced in the sliding mode and to overcome the effect of time delay in the closed loop. The simulation results are given to illustrate the effectiveness of the proposed approach.