Some practical issues in the smith predictor design for FOTD systems

摘要

The paper develops and summarizes some of the most important points of a successful Smith predictor design for the first order time delayed systems. Starting with discussion of ideal shapes of transient responses at the plant input and output and possible simplification of the plant identification and design, it derives new simple formulas of a filtered Smith predictor motivated compensator for integral plants augmented with higher order filters for a measurement noise attenuation. Finally, it also gives recommendations, when a discrete-time implementations is required and which structure modifications are appropriate for a constrained control.