Stability Analysis of a Class of Second Order Sliding Mode Control Including Delay in Input

Figure 1

Behavior of 𝑥₁ for different forms of 𝑓(𝑡,𝑥₁,𝑥₂), where it can be seen as ℎ<𝑡₁−𝑡₀ and maximum value for 𝑥₂=𝑀⁺_𝑥2, when 0<𝑥₁≤𝑀⁺_𝑥1.

(a)

(b)

(c)