Sliding mode control for state delayed systems subject to persistent disturbance

This paper considers the sliding mode control (SMC) for a class of state delayed systems subject to persistent disturbances. First, a disturbance compensator is proposed to eliminate the influence from persistent disturbances, and the stability of control system is discussed. Then, the control problem is transformed into sliding mode control problem for state delayed system without expression of disturbances. The reduced-order sliding mode surface function is proposed based on the Lyapunov-Functional and the designed switching function. Furthermore, sliding mode control law is obtained. Finally, the simulation results demonstrate that the proposed control law can guarantee the stability of state delayed systems.