A predictor plus super-twisting observer feeding a sliding-mode controller is claimed to globally stabilize LTI systems with time-varying output delay, but the reachability condition is state-dependent while the gain is constant, and the simulation example conflicts with the problem setup.
Linear systems with delayed controls: A reduction, IEEE T
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Sliding Mode Control for Uncertain Systems with Time-Varying Delays via Predictor Feedback and Super-Twisting Observer
A predictor plus super-twisting observer feeding a sliding-mode controller is claimed to globally stabilize LTI systems with time-varying output delay, but the reachability condition is state-dependent while the gain is constant, and the simulation example conflicts with the problem setup.