Robust integral sliding mode regulator for linear systems with multiple time delays in control input

This paper presents a robustification algorithm for the optimal regulator for linear systems with multiple time delays in control input, based on integral sliding mode compensation of disturbances. The general principles of the integral sliding mode compensator design, which yield the basic algorithm applied then to robustify the optimal regulator, are outlined. As a result, the sliding mode compensating control leading to suppression of the disturbances from the initial time moment is designed. This control algorithm ensures all-time coincidence of the disturbed system state with the optimally controlled one. The designed robust control algorithm is verified by simulations in the illustrative example.