A modified Smith predictor for controlling a process with an integrator and long dead-time

A modification of the Smith predictor for controlling higher-order processes with integral action and long dead-time is proposed. The controller has a quite simple structure which is obtained based on the model consisting of an ideal integrator and dead-time and which includes only three tuning parameters: the dead-time, velocity gain of the model, and the desired time constant of the first-order closed-loop setpoint response, By adjusting these three parameters, high performance can be obtained both for the setpoint response and for the load disturbance rejection.