ROBUSTNESS OF MULTIVARIABLE SMITH PREDICTORS
Stability and stability robustness of multivariable Smith predictors
are analysed by viewing Smith predictors as instances of Internal
Model Control. This allows a much simpler development than appears in
previous analyses, and the way that delays enter the plant transfer
function matrix is unrestricted.
It is shown that robustness to additive plant
perturbations can be predicted during design, on the basis of a model
of the rational part of the plant alone.
A design example based on the Shell Control Problem is included.