Abstract
In this report, we consider a sliding mode control for retarded nonlinear systems. The proposed method here is to design a sliding surface by using a coordinates transformation used in the finite spectrum assignment and to derive a switching feedback law. The designed surface consists of not only the current values of the state variables but also the past values of the state variables in the original coordinates. In addition, we show an invariance property of the sliding mode with respect to a distrubance. Effectiveness of the proposed method is tested by an illustrative example.
