Stabilisation of feedback linearisable uncertain nonlinear systems with time delay using scaled sliding surface

The authors consider a stabilisation problem of a class of feedback linearisable nonlinear systems with uncertainty and a delay in the input. In the considered system, the nonlinear function cannot be directly cancelled by the input due to a time delay. Thus, the traditional idea of cancelling and subtraction approach cannot be used. The authors design a stabilising controller by utilising a scaled sliding surface and show that the control results are such that any finite delay can be allowed in the input. This is an improved result over the existing results and an example is provided for comparison and verification.