Super-twisting SM control for the output tracking of time-delay system

This paper investigates the output tracking results of SISO time-delay system using the super-twisting sliding mode control approach. By a system transformation and Padé approximation, the output tracking of time-delay system is transformed into the tracking of a nonminimum phase system. Stable system centre approach is used to approximate this system by a stable one. All the tracking errors and errors from the system centre will approach to zero in a finite time by the proposed super-twisting sliding mode (SM) control. An one-link robot nonlinear example is studied to show the effectiveness of this methodology.