Modified Smith Predictor Design for a Reclaimer

In this paper, a modified Smith predictor in the presence of input and output disturbances as well as modeling uncertainty is investigated. The modified Smith predictor includes the feedforward Smith predictor and the compensator that approximates the inverse of time-delay. Assuming a multiplicative uncertainty, a robust stability criterion and a compensator design criterion are derived. The modified Smith predictor is applied to a reclaimer, which is used in the raw yard of a steel plant and has a large output time-delay. The system identification method is used to find out a nominal model. The uncertainty bound is quantified in the frequency domain through an uncertainty quantification method. Simulation results are provided. Copyright © 2003 IFAC