In this paper we propose a robust control design method for a class of nonl
inear systems with a time delay in the manipulated input. The time delay co
mpensation strategy based on the Smith-like predictor (SLP) and the paramet
er diffeomorphism is used as a technique to robustify the cancellation of d
isturbances and mismatches between the real deadtime and the estimated dead
time. In particular, the proposed control law with the approach of paramete
r diffeomorphism provides techniques far on-line adjustment of controller p
arameter to achieve or maintain a desired level of system performance when
the disturbances are unknown or variable. The design method is applied to a
continuous stirred tank reactor (CSTR) system. Computer simulation shows r
esults with satisfactory performance.