Abstract
This paper points out a numerical problem in the well-known modified Smith predictor and proposes a Unified Smith Predictor (US?) to remedy this problem. The proposed USP combines the classical Smith predictor with the modified one, after a spectral decomposition, and is applicable to all dead-time systems, including stable systems, completely unstable systems and unstable systems having stable modes. Most of the well-studied problems involving a modified Smith predictor have to be reconsidered for the sake of practical applications.
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