An Enhanced Smith Predictor Based Control System Using Feedback-feedforward Structure for Time-delay Processes Academic Article uri icon


  • This paper presents enhanced Smith predictor based control systems (SPBCSs) for processes with a time-varying or fixed time delay. This work focuses on improving the arrangement and asynchrony of SPBCS components rather than the design of the predictor and the feedback controller, which have been well discussed in the literature. The proposed control system advances SPBCS through implementation of two design recommendations: (i) replacing the classical feedback controller by a feedback-feedforward control system, and (ii) synchronizing the reference signal and the predicted output. As a result, common shortcomings of SPBCSs or control systems based on Pade approximation, i.e. the trade-off between performance and steady-state error, and instability associated with non-minimum-phase systems do not exist in the proposed SPBCS. The superior performance of the proposed control system is demonstrated with two examples: temperature control of an infrared dryer (a system with fixed time-delay) and air-fuel ratio of a lean-burn spark-ignition engine (a system with time-varying delay and lag). The proposed control system is shown to clearly outperform the conventional SPBCS and Internal Model Control (IMC) PID based on Pade approximation for aforementioned examples and performs satisfactorily in the presence of noises, actuator saturations, and severe model inaccuracies.

published proceedings

  • Journal of Engineering Research

author list (cited authors)

  • Mohammadzaheri, M., & Tafreshi, R.

citation count

  • 2

publication date

  • June 2017