On the problem of tracking for a class of linear systems with delays and sliding modes

This paper applies the block control technique to design a sliding mode regulator that guarantees asymptotic reference tracking for a class of linear delayed systems with disturbances. This class of systems are those presented in so-called block controllable form with delay. The block control technique is used to derive a sliding manifold on which the motion of the closed-loop system is stable, and the tracking error is zeroed. Examples of the application of the proposed control strategy and observer design are illustrated.