Optimal Smith Predictor and its Robust Tuning
一类Smith预估器及其鲁棒整定

An analytical approach is presented for the design of Smith predictor, which provides disturbance rejection and robustness simultaneously. It is shown that the Smith predictor is equivalent to a PID controller and can be implemented by conventional PID controller. Its closed loop performance is also discussed. An example is included to illustrate superiority of the approach.