14/11/2014

Smith predictor - Wikipedia, the free encyclopedia

Smith predictor
From Wikipedia, the free encyclopedia

The Smith predictor (invented by O. J. M. Smith in 1957) is a type of predictive controller for systems with pure time delay. The idea can be illustrated as
follows.
Suppose the plant consists of

followed by a pure time delay

As a first step, suppose we only consider

(the plant without a delay) and design a controller

with a closed-loop transfer function

that we consider satisfactory.

Next, our objective is to design a controller
Solving
has been changed to

for the plant

so that the closed loop transfer function

, we obtain

equals

. The controller is implemented as shown in the following figure, where

to indicate that it is a model used by the controller.

Note that there are two feedback loops. The outer control loop feeds the output back to the input, as usual. However, this loop alone would not provide
satisfactory control, because of the delay; this loop is feeding back outdated information. Intuitively, for the k seconds during which no fresh information is
available, the system is controlled by the inner loop which contains a predictor of what the (unobservable) output of the plant G currently is.
To check that this works, a re-arrangement can be made as follows:

Here we can see that if the model used in the controller,

, matches the plant
each other, and the controller generates the "correct" control action.

perfectly, then the outer and middle feedback loops cancel

References
K. Warwick and D. Rees, Industrial Digital Control Systems, IET, 1988. [1] (http://books.google.com/books?
id=4dURB2NTstAC&pg=PA100&dq=%22smith+predictor%22+inauthor:warwick&lr=&as_brr=0&ei=a_OSIz6BJWKyQSOwJDjBA&sig=ACfU3U36uGEHj5Azv-prDeRtQ0SE51QkVg)
Smith predictor on-line simulator [2] (http://www.pidlab.com/en/smith-predictor)

External links
Compute the Smith predictor in Mathematica (http://reference.wolfram.com/mathematica/ref/SmithDelayCompensator.html)
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14/11/2014

Smith predictor - Wikipedia, the free encyclopedia

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