Abstract
This chapter deals with predictor feedback controllers to compensate time delays in feedback loops. The concept and the governing equations of the Smith predictor, the modified Smith predictor, and the finite spectrum assignment are discussed in detail. The relationship between the three control strategies is established both in frequency and time domain, and a detailed comparison is performed with respect to the properties of the closed control loop. Both the Smith predictor and the finite spectrum assignment are based on the prediction of the state at time instant t + τ with τ being the feedback delay. In this chapter, it is argued that the main difference is that the Smith predictor involves a model to be solved over the entire time interval [0, t + τ], while the finite spectrum assignment employs an internal model only over the delay period [t, t + τ]. It is also shown that the governing equations behind the modified Smith predictor and the finite spectrum assignment are equivalent and the difference between the two concepts lies in their implementation. Issues related to practical realization are also discussed including the effect of uncertainties in the parameters and in the initial conditions, the implementation of the control law, and the utilization of observers.
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