Stable compensation of right half plane zeros in time delay systems

The processes with time delay may generally have infinite number of zeros and some of these zeros may lie in the right half s-plane. Compensation of right half s-plane zeros (RHPZ) is important in achieving desired system performance. A new compensation technique is proposed for the processes having RHPZ due to time delays. The new method requires to shift all of the poles of the compensator transfer function into the left half s-plane. One does not need to know the exact locations of the zeros and no pole-zero cancellations are required. Hence, design always results in a stable compensated process