A Novel Robust SMC For Discrete Systems With Both State And Input Delays

In this work, we investigated the sliding mode control (SMC) for uncertain systems with both state and input varying delays. In most existing SMC, a common input and delayed input matrix are considered to apply the conventional method, which is very restrictive assumption. Therefore, we proposed a new sliding surface which takes account of the system state and the control input in order to remove the restrictive assumption. The parameters of the sliding function are obtained using the linear matrix inequality. Furthermore, the Jensen's inequality and reciprocally convex approach are employed, to further reduce the conservatism in the existing results. A simulation example is studied to illustrates the advantages of this method.