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A simple adaptive Smith-predictor for controlling time-delay systems: A tutorial

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1 Author(s)
Bahill, A.T. ; Carnegie-Mellon University, Pittsburgh, PA, USA

This heuristic paper presents several simple techniques for analyzing the stability of time-delay systems. It explains the Smith predictor control scheme for time-delay systems and shows how errors in modeling the plant parameters can cause instability. Then an adaptive controller is added to the Smith predictor system; this pedagogical example offers a complete derivation of a simple adaptive control system. Finally, a new control scheme is discussed that allows zero-latency tracking of predictable targets by a time-delay system.

Published in:

Control Systems Magazine, IEEE  (Volume:3 ,  Issue: 2 )