Sliding-Mode control based on a model reference applied to a non-linear ball and plate system with time delay

The purpose of this work is to design a Sliding-mode control based in model reference (SMC-MR) applied to a non-linear ball and plate system with time delay. This approach consists in a controller that acts on a simple estimated model (similar to the real process), which is called a reference model, and taking as reference the output of that system, a second controller is designed to act on the real process. Then, the controller will cause the real system to follow the reference model and be sufficiently robust in the presence of time delay and modeling errors. A performance analysis of the controller is done by simulation considering the characteristics of a real plant.