A Simple Adaptive Smith-Predictor
for Controlling Time-Delay Systems

Terry Bahill Systems and Industrial Engineering University of Arizona Tucson, AZ 85721-0020 terry@sie.arizona.edu © 2004 Bahill

This heuristic paper presents several simple techniques for analyzing the stability of time-delay systems. It explains the Smith predictor control scheme for time-delay systems and shows how errors in modeling the plant parameters can cause instability. Then an adaptive controller is added to the Smith predictor system; this pedagogical example offers a complete derivation of a simple adaptive control system. Finally a new control scheme is discussed that allows zero-latency tracking of predictable targets by a time-delay system.

Reference [28]. It is suitable for systems and control engineers. It requires an overhead projector and a chalkboard. This lecture takes three hours.