Tuning of a modified Smith predictor for processes with time delay

A modified Smith predictor proposed in Majhi and Atherto (1999) is shown to be equivalent to a modified internal model control (IMC) structure, and then a three stage design method is proposed for the Smith predictor. To achieve compromise between disturbance rejection and stability robustness, a robust control method is used to tune the feedback loop controller. Design for some typical integrating and unstable processes with time delay shows that the proposed method can achieve good compromise between setpoint tracking, disturbance rejection and stability robustness.