Second-Order SM Approach to SISO Time-Delay System Output Tracking

Abstract

A fully linearizable single-input-single-output relative-degree <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">n</i> system with an output time delay is considered in this paper. Using the approach of Pade approximation, system center approach, and second-order sliding-mode (SM) control, we have obtained good output tracking results. The Smith predictor is used to compensate the difference between the actual delayed output and its approximation. A second-order supertwisting SM observer observes the disturbance in the plant. A nonlinear example is studied to show the effect of this methodology.