Abstract
The present paper considers a sliding mode control (SMC) of retarded nonlinear systems in the presence of perturbations. First we propose a new SMC scheme for multivariable retarded nonlinear systems. Secondly we consider the effect of uncertainties and disturbances under the proposed controller and derive a matching condition on perturbations by means of the equivalent control approach. Thirdly we derive a stable condition of the sliding motion of systems with more general perturbations by using Lyapunov-Razumikhin function approach and show a design procedure of the sliding surface satisfying the condition. Effectiveness of the proposed method is tested by an illustrative example.
