Robust stability of Smith predictor controllers for time-delay systems

Abstract

The paper considers Smith predictor control structures for multivariable process plant with separable delays on the output and analyses the robustness of the control scheme with respect to mismatch between the real plant and its model and simultaneous changes in plant dynamics. The cases of additive and feedback mismatch are considered separately and represented in the form of easily checked graphical stability criteria in the frequency domain.