Robust Stability for Nonlinear Systems with Time-Varying Delay and Uncertainties via the <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.50008pt;width:36.412498px;" id="M1" height="20.262501" version="1.1" viewBox="0 0 36.412498 20.262501" width="36.412498">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,14.638)"><path id="x1D43B" d="M865 650q-1 -4 -4 -14t-4 -14q-62 -5 -77 -19.5t-29 -82.5l-74 -394q-12 -61 -0.5 -77t75.5 -21l-6 -28h-273l8 28q64 5 82 21t29 76l36 198h-380l-37 -197q-11 -64 0.5 -78.5t79.5 -19.5l-6 -28h-268l6 28q60 6 75.5 21.5t26.5 76.5l75 394q13 66 2 81.5t-77 20.5l8 28
h263l-6 -28q-58 -5 -75.5 -21t-30.5 -81l-26 -153h377l29 153q12 67 2 81t-74 21l5 28h268z"></path></g>

			<g transform="matrix(.016,-0,0,-.016,19.725,20.012)"><path id="x221E" d="M983 225q0 -112 -67 -174.5t-150 -62.5q-91 0 -154.5 43.5t-113.5 129.5q-49 -85 -104 -129t-138 -44q-98 0 -158.5 66t-60.5 154q0 59 21 106.5t54.5 75.5t70.5 43t73 15q90 0 152.5 -43.5t112.5 -128.5q48 84 104.5 128t140.5 44q93 0 155 -65t62 -158zM478 196
q-27 49 -47 80t-50 67t-64 54t-73 18q-48 0 -81.5 -47t-33.5 -128q0 -96 37.5 -157.5t99.5 -61.5q68 0 117.5 47t94.5 128zM889 204q0 91 -35.5 151t-99.5 60q-68 0 -119 -47t-95 -127q27 -49 47 -80.5t50 -67.5t65 -54t74 -18q113 0 113 183z"></path></g>

		
	
</svg> Quasi-Sliding Mode Control

<table>Time responses of switching surface <svg height="15.0875" id="M185" style="vertical-align:-2.21957pt" version="1.1" viewbox="0 0 25.8375 15.0875" width="25.8375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.138)"><path d="M457 488l-30 -3q-17 148 -131 148q-53 0 -84.5 -34.5t-31.5 -82.5q0 -42 25.5 -72t74.5 -62l33 -22q63 -42 95 -85t32 -102q0 -84 -67 -137t-163 -53q-58 0 -113 22t-70 43l-4 152l27 4q4 -32 15 -62.5t31 -59.5t53.5 -47t76.5 -18q56 0 92 35t36 96q0 39 -25 70t-78 68
l-31 22q-32 23 -53.5 41.5t-45 57t-23.5 77.5q0 82 58 132.5t156 50.5q46 0 101 -17l18.5 -6t17 -6t8.5 -3q-4 -55 0 -147z" id="x1D446"></path></g><g transform="matrix(.017,-0,0,-.017,8.222,12.138)"><path d="M300 -147l-18 -23q-106 71 -159 185.5t-53 254.5v1q0 139 53 252.5t159 186.5l18 -24q-74 -62 -115.5 -173.5t-41.5 -242.5q0 -130 41.5 -242.5t115.5 -174.5z" id="x28"></path></g><g transform="matrix(.017,-0,0,-.017,14.103,12.138)"><path d="M324 430l-26 -36l-112 -4l-55 -265q-13 -66 7 -66q13 0 44.5 20t50.5 40l17 -24q-38 -40 -85.5 -73.5t-87.5 -33.5q-50 0 -21 138l55 262h-80l-2 8l25 34h66l25 99l78 63l10 -9l-37 -153h128z" id="x1D461"></path></g><g transform="matrix(.017,-0,0,-.017,19.9,12.138)"><path d="M275 270q0 -296 -211 -440l-19 23q75 62 116.5 174t41.5 243t-42 243t-116 173l19 24q211 -144 211 -440z" id="x29"></path></g>
</svg> without disturbances.</table>

International Journal of Antennas and Propagation

fig3

Figure 3

Figure 3: Robust Stability for Nonlinear Systems with Time-Varying Delay and Uncertainties via the <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.50008pt;width:36.412498px;" id="M1" height="20.262501" version="1.1" viewBox="0 0 36.412498 20.262501" width="36.412498">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,14.638)"><path id="x1D43B" d="M865 650q-1 -4 -4 -14t-4 -14q-62 -5 -77 -19.5t-29 -82.5l-74 -394q-12 -61 -0.5 -77t75.5 -21l-6 -28h-273l8 28q64 5 82 21t29 76l36 198h-380l-37 -197q-11 -64 0.5 -78.5t79.5 -19.5l-6 -28h-268l6 28q60 6 75.5 21.5t26.5 76.5l75 394q13 66 2 81.5t-77 20.5l8 28
h263l-6 -28q-58 -5 -75.5 -21t-30.5 -81l-26 -153h377l29 153q12 67 2 81t-74 21l5 28h268z"></path></g>

			<g transform="matrix(.016,-0,0,-.016,19.725,20.012)"><path id="x221E" d="M983 225q0 -112 -67 -174.5t-150 -62.5q-91 0 -154.5 43.5t-113.5 129.5q-49 -85 -104 -129t-138 -44q-98 0 -158.5 66t-60.5 154q0 59 21 106.5t54.5 75.5t70.5 43t73 15q90 0 152.5 -43.5t112.5 -128.5q48 84 104.5 128t140.5 44q93 0 155 -65t62 -158zM478 196
q-27 49 -47 80t-50 67t-64 54t-73 18q-48 0 -81.5 -47t-33.5 -128q0 -96 37.5 -157.5t99.5 -61.5q68 0 117.5 47t94.5 128zM889 204q0 91 -35.5 151t-99.5 60q-68 0 -119 -47t-95 -127q27 -49 47 -80.5t50 -67.5t65 -54t74 -18q113 0 113 183z"></path></g>

		
	
</svg> Quasi-Sliding Mode Control 

International Journal of Antennas and Propagation

Robust Stability for Nonlinear Systems with Time-Varying Delay and Uncertainties via the Quasi-Sliding Mode Control

Figure 3