Abstract: This paper studies the design of a tracking control for a class of uncertain nonlinear systems with time-varying delay using multi-model switching in the presence of uncertainty. First, T-S models with time-delay are employed to model the uncertain nonlinear system with time-delay. When uncertainty is gain bounded, a sufficient condition, which satisfies the closed-loop stability and the performance of H∞ tracking, is presented for the existence of the controller. Finally, a region controller, chosen according to the selected variables by the multiple-model switching control, is switched to the whole controller, and other controllers do not operate. Thus the control of the entire nonlinear system is established. Effectiveness of the proposed method is demonstrated with simulation results.

Key words: uncertain nonlinear systems, time-varying delay, multi-model switching, tracking control