Robust performance design of PID controllers for time-delay systems with a Smith Predictor
Veeramachaneni, Siva Rama Krishna
Watkins, John Michael
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Veeramachaneni, S.R.; Watkins, J.M., "Robust performance design of PID controllers for time-delay systems with a Smith predictor," American Control Conference (ACC), 2014 , vol., no., pp.2462,2467, 4-6 June 2014
Time delays in the feedback loop complicate the analysis and design of the closed-loop system. The use of a Smith predictor in combination with a Proportional Integral Derivative (PID) controller is a well-known technique for dealing with these delays in stable systems. In this paper, a graphical method is introduced for finding all stabilizing PID controllers that satisfy a robust performance constraint for any arbitrary order stable transfer function with time delay when a Smith predictor is used. The use of a Smith predictor tends to increase the size of the set of all PID controllers that satisfy the robust performance constraint in the controller parameter space. A numerical example is used to compare the set of PID controllers with and without a Smith predictor.
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