Global Sliding Mode Control for Uncertain Systems with State Time - Delay

The problem of designing global sliding mode controllers(GSMC) for a class of uncertain linear systems with state time-delay is considered.A new type of integral sliding mode surface is proposed by adding a timedelay compensating term to the traditional integral sliding mode surface,and the system exhibits global robustness to the uncertainties which satisfy the matching conditions during the entire response of the system.The sliding mode controller design process is presented systematically.In terms of LMI,a sufficient condition that guarantees the asymptotic stability of the sliding mode is derived.A robust control law is designed to ensure the existence of a sliding mode and to overcome the effects of the uncertainties.The global robust sliding mode control is realized.The effectiveness of the proposed method is demonstrated by simulation study.