Abstract
The classical Smith Predictor method for single variable systems is extended to a class of linear multivariable systems. Derivations of the multivariable Smith Predictor are presented for both continuous-time and discrete-time systems which contain time delays in the control variables and/or output variables. As in the classical method, use of the multivariable Smith Predictor eliminates the time delays from the characteristic equation of the closed-loop system
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