A modified sliding-mode controller (SMC) with time-delay control for non-linear systems with disturbance is presented. Unlike a conventional SMC, the proposed approach does not require the identification of system parameters or the estimation of the bounds of disturbances. A novel sliding surface is designed in the modified SMC. The proposed approach provides an easy design method to maintain the convergence of errors by design requirement and uses the lower switching gain to maintain robustness which is in contrast to using a conventional SMC. Simulation results demonstrate that the proposed method is better than a conventional SMC in controlling a non-linear system with disturbances.
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