A robust controller is developed for uncertain, second-order nonlinearsystems subject to simultaneous unknown, time-varying state delays and known,time-varying input delays in addition to additive, sufficiently smoothdisturbances. An integral term composed of previous control values facilitatesa delay-free open-loop error system and the development of the feedback controlstructure. A stability analysis based on Lyapunov-Krasovskii (LK) functionalsguarantees uniformly ultimately bounded tracking under the assumption that thedelays are bounded and slowly varying.
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