Robust tracking and model following for uncertain time-delay systems

In this paper, a new controller design method for uncertain time-delay systems is proposed. We develop a nonlinear switching controller to force the outputs of the uncertain time-delay system to track, the outputs of a non-delay reference model that represents the ideal response of the controlled uncertain time-delay system. We also demonstrate the attractiveness of the switching hypersurface and show that, along the hypersurface, the trajectories are insensitive to system parameter variations.