Two-harmonic Periodic Disturbance Compensation for Dead-Time Processes with Online Identification of Input Delay

As in the case of Smith predictor, when applied to dynamical systems with delay input, stability internal model control (IMC) system can be very sensitive mismatch that occur between plant and identified delay. In this paper, we propose an online identification technique for input delay, which is used adapt IMC controller designed reject periodic disturbances consisting two harmonics. The proposed method based on wavelet analysis cross-correlation measured output. Moreover, structure introduces a novel analytical approach makes it suitable adaptive application. practical motivation study address caused by approximating time-varying high-order first-order models numerically validated.