The modified Smith predictor is well known as an effective time-delay compensator for a plant with large time-delays, and several papers on the modified Smith predictor have been published. The parameterization of all stabilizing modified Smith predictors for multipleinput/multiple-output time-delay plants was obtained by Yamada et al. However, they do not examine the parameterization of all st...

Time-delays (dead times) are found in many processes in industry. Time-delays are mainly caused by the time required to transport mass, energy or information, but they can also be caused by processing time or accumulation. The contribution is focused on a design of universal digital algorithm for control of great deal of processes with time-delay. This requirement is successfully satisfied with...

The Smith predictor is a type of compensator that eliminates a time-delay occurred in industrial processes. Recently, the robustness in of the Smith predictor has been great issue. In this paper, a robust Smith predictor design is investigated, in this paper, the system identification method is used to find out a nominal model and its uncertainty bound of the nominal model is quantified in the ...

Astrom et al. have proposed a new Smith predictor to control the process with an integrator and a long time delay. Though the method provides significant performance improvement, it fails to give effective tuning rules even when the integral constant is equal to 1. In this paper the method is extended to the general integrator/time delay process. A clearer and more logical design procedure is f...

Abstract. In teleoperation tasks, communication delays between master and slave sides negatively affect the stability and transparency of closed loop system, and make it difficult to maintain a desired contact force. In order to improve the performance of contact force control in teleoperation under large time delays, a shared compliant control method is proposed in this paper. On the master si...

This note puts forward a parametrization of all stabilizing two-degree-of-freedom (2DOF) controllers for (possibly unstable) processes with dead-time. The proposed parametrization is based on a doubly coprime factorization of the plant and takes the form of a generalized Smith predictor (dead-time compensator) feedback part and a finitedimensional feedforward part (prefilter). Some alternative ...

A new method for robust fixed-order H∞ controller design for uncertain time-delayed MIMO systems is presented. It is shown that the H∞ robust performance condition can be represented by a set of convex constraints with respect to the parameters of a linearly parameterized primary controller in the Smith predictor structure. Therefore, the parameters of the primary controller can be obtained by ...

A wealth of knowledge and research results exist for control of systems with state delays and input delays. Problems with long input delays, for unstable plants, represent a particular challenge. In fact, they were the first challenge to be dealt with, in Otto J. M. Smith’s article (Smith, 1959), where a compensator, now known as the Smith predictor, was introduced five decades ago. The Smith p...

In this paper, we present a study of the destabilizing effects of delay in communications networks. We the apply results from a companion paper to find the range of delays for which a Smith predictor controller guarantees the stability of an ATM/ABR network.

In this article we consider the cerebellum in the vertebrate motor control system. Analyzing the delays in this control loop as well as the complexity of the dynamics of the skeletomuscular system, we £nd that two well-known interpretations of the function of the cerebellum—that of a Smith predictor, or of an inverse model controller—are insuf£cient to solve the control problem at hand.