A suboptimal Davison type integral controller for time-delay plants is proposed which requires less on-line computation than that for the optimal controller, The proposed suboptimal controller utilizes a simplified predictor, which replaces a part of the optimal predictor with a Smith predictor, As a systematic method for designing the proposed controller the application of the loop transfer recovery (LTR) technique is discussed,. For the plant input side and the plant output side, explicit representations of the sensitivity matrices achieved by enforcing the formal LTR procedure are obtained,, A numerical example is presented to compare the asymptotic feedback properties with those of the optimal design.
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