Smith predictor in relay autotuning

Abstract

This contribution is focused on utilization of the Smith predictor in the automatic control design method. The first phase consists from the biased relay experiment where the unknown parameters of the low order controlled system with time delay are identified. The following control design is based on the algebraic methods through a general solution of Diophantine equations in the ring of proper and stable rational functions. The time delay term is neglected in the control design because the control loop contains a model of the controlled system which was identified by the relay experiment.