Integral Sliding Mode Control for Systems with Time Delay

In this paper a novel discontinuous control strategy is proposed for robust stabilization of a class of uncertain multivariable linear time-delay system with delays in both the state and control variables. First, various predictors are used to obtain the free-delay control input. Then the integral sliding mode control technique is applied to compensate the uncertainty term and stabilize the closed-loop system. The proposed control stabilization conditions for systems presented in general and regular forms are derived. An example of the application of the proposed control strategy is illustrated