Analytical formulas for the new two degree-of-freedom Smith predictor

This paper shows how to apply the optimal design method to the design of the new two degree-of-freedom Smith predictor for stable processes with time delay. The optimal performance criteria for tracking of a reference setpoint and disturbance rejection are presented respectively. Systematic and general design procedure is then developed. By approximating a system of infinite dimensions with systems of finite dimensions, the controllers are derived analytically. It is found that the results of Zhang et al. (1998) can be directly derived by the proposed method.