A Design Method for Smith Predictor for Non-Minimum-Phase Time-Delay Plants with Multiple Time-Delays

In this paper, we examine a design method for modified Smith predictor for non-minimum-phase time-delay plants with multiple time-delays. The modified Smith predictor is well known as an effective time-delay compensator for a plant with large time-delay, and several papers on the modified Smith predictor have been published. The parametrization of all stabilizing modified Smith predictors for minimum-phase time-delay plants is obtained by Yamada and Matsushima. Yamada et al. expand the result by Yamada and Matsushima and propose the parametrization of all stabilizing modified Smith predictor for non-minimum-phase systems. In some cases, the plant includes multiple time-delays. For minimum-phase timedelay plants with multiple time-delays, the parametrization of all stabilizing modified Smith predictors is solved by Yamada and Takenaga. However, they do not examine the parametrization of all stabilizing modified Smith predictors for non-minimum-phase time-delay systems with multiple time-delays. The purpose of this paper is to expand the result by Yamada and Takenaga and to propose the parametrization of all stabilizing modified Smith predictors for non-minimum-phase time-delay plants with multiple time-delays.