Second order sliding mode control of switched delayed systems

A suitable combination of 1) a second order sliding mode control paradigm known as the "twisting algorithm", constituting here an analog-to-binary converter, and 2) average output feedback controllers for continuous linear delayed differential systems, are shown to result in a feasible switched implementation of the average controller which retains all the essential features of the average closed loop design. Particularly, recently introduced generalized proportional integral (GPI) controllers, using suitably modified versions of the Smith predictor, are shown to be implementable in a switched delay system with all the essential robustness features with respect to constant perturbation inputs and with respect to lack of precise knowledge of the input signal constant delay.