On asymptotic stabilization of feedback linearizable nonlinear systems with a delay in the input by using sliding-surface

In this paper, we consider a stabilization problem of a class of feedback linearizable nonlinear systems with a delay in the input. In the considered system, the nonlinear function cannot be directly canceled by the input due to timedelay, generally. So, the traditional idea of canceling and subtraction approach cannot be used. We design a stabilizing controller by utilizing a scaled sliding-surface and show that the control results are such that some large delay can be allowed in the input depending on the types of nonlinear function.