TSM control of the delayed input system

The paper proposed a terminal sliding mode control method for the delayed input system with uncertainties. Firstly, through the state transformation, the original system was transformed into the non-delayed controllable canonical form system. Then the paper designed a terminal sliding mode and terminal sliding control law with Lyapunov method for the transformed system. Through the method, the reaching time of the any initial state and the convergencing time to the equilibrium points are constrained in finite time. The simulation results show the validation of the method.