Text this: Nonsmooth feedback stabilization of a class of nonlinear systems with unknown control direction and time delay

  ____       ___      _____     ______    _____   
 |  _ \\    / _ \\   |__  //   /_   _//  / ____|| 
 | |_| ||  | / \ ||    / //     -| ||-  / //---`' 
 | .  //   | \_/ ||   / //__    _| ||_  \ \\___   
 |_|\_\\    \___//   /_____||  /_____//  \_____|| 
 `-` --`    `---`    `-----`   `-----`    `----`