Takagi- Sugeno Robust Control of Uncertain Nonlinear Time- Delay Systems via Integral Sliding Mode Control

In this paper a novel discontinuous control strategy for robust stabilization of a class of uncertain nonlinear time-delay systems with delays in both the state and control variables is proposed. First, a Takagi- Sugeno technique is used to approximate the nonlinear system by a set of linear subsystems. Then, two predictors are used to compensate the control input delay, and in the following an integral sliding mode control technique is applied to partially compensate the exect of a perturbation term. Finally, a nominal free-delay part of the control input is designed to stabilize the sliding mode dynamics using LMI's technique. Conditions for the stability of the closed-loop perturbed system are derived. An example illustrates the applicability of the proposed control scheme.