Output tracking via sliding modes in causal systems with time delay modeled by higher order pade approximations

Output tracking in a SISO causal uncertain nonlinear system with an output subject to a time delay is considered using sliding mode control. A higher order Pade approximation to a delay function with a known time delay is used to construct a model of a transformed system without a time delayed output and is employed in a feedback sliding mode control. This model functions as a predictor of the plant states and the plant output, but is of nonminimum phase due to the application of the Pade approximation. The method of the stable system center is used to stabilize the internal dynamics of this plant model, and a control is developed using a sliding surface to allow the plant to track an arbitrary reference profile given by an exogenous system with a known characteristic equation. Simulations of the system are performed for the plant model using a first, second and third order Pade approximations and a controller in plant feedback mode. Numerical examples for Pade approximations of increasing order are considered and compared