Novel extensions of Smith predictors for MIMO systems with multiple I/O delays

Despite of its enormous popularity and acceptance and many industrial applications and the thousands of articles and many book chapters written on it ( we apologize for mentioning here only very few references), the Smith Predictor (SP) control algorithm, [3], (called also Dead Time Compensator - DTC) remains to date an advanced algorithm for systems with just a single delay. Its properties are well understood ([1] for example) and suitable modifications (called modified Smith predictors (MSP)) for unstable SISO systems with delays are well known and documented, [2]. SPs structures appear in one form or another in optimal H², L¹ and H^∞ solutions for systems with a single delay. See [11]–[14]. Extending the SP to nonlinear systems with input delay is presently an active research area [15].