Robust sliding mode control of uncertain dynamic delay systems in the presence of matched and unmatched uncertainties

A nonlinear continuous controller is developed for a class of uncertain dynamic delay-systems in the presence of matched and unmatched uncertainties. The controller designed guarantees uniform ultimate boundedness of all motions of the class of uncertain time-delay systems considered. Furthermore, the parameters of the controller can be adjusted so that the deviation from ideal sliding mode call be made arbitrarily small. Finally, an example is included to illustrate the proposed design procedure.