Feedforward Smith predictor sliding mode control algorithm for a class of first order system with integrator and time delay

A novel feedforward Smith predictor sliding mode control (FSPSMC) algorithm is developed for a class of first order system with integrator and time delay in this paper. Smith predictor is used to eliminate the time delay effects. Feedforward compensation control is used to overcome constant external disturbance and improve system control performance. An integral type switching gain sliding mode control (SMC) is used to guarantee system stability. A benchmark illustrative example is demonstrated to validate the effectiveness of the proposed approach.