Discrete smith predictor design and performance improvement of PID tuning

The paper presents a discrete design method for tuning of proportional-integral-derivative control loops by using the Smith predictor with feedback filter in order to guarantee better dynamic and target loop specifications for setpoint tracking and disturbance rejection acting on the process with long dead-time. Simulation and experimental essays show that the effectiveness of the dead-time compensating PID tuning over standard PID controller tuning methods is improved to meet the desired performance and to decrease the impact of the dead-time over the closed-loop stability.