Simple predictor for processes with time delay

A method is presented based on optimal control theory for the design of a Smith predictor. The resulting controller has two notable merits. First, explicit formulas are obtained for calculating parameters of the controller. Second, the nominal performance of closed loop system, such as overshoot and rise time, can be evaluated quantitatively. It is found that the proposed Smith predictor can be equivalent to the Dahlin controller and a PID controller. A numerical example is provided to illustrate the method