This paper deals with a sliding mode control for linear systems with input
and state time-varying delays. Two different time delays are considered for the sliding
mode control of a continuous linear system. Delay-dependent sufficient conditions
are given for the existence of sliding manifolds in terms of linear matrix inequalities.
A reaching motion controller is also proposed for such systems by means of both
reaching law and inequality approach. An inverted pendulum system is utilized to
illustrate the effectiveness of the developed techniques.