An early control methodology for time delayed plants is the Smith predictor, in which the plant model is utilized to predict the nondelayed output of the plant and move the delay out of the control loop. Recent Smith predictor based teleoperation control architectures have used linear or fixed-parameter dynamic approximations of the slave/environment at the master for environment contact predic...

This chapter considers the boundary control of damped wave equations using a boundary measurement in a networked control system (NCS) setting. In this networked boundary control system, the induced delays can be lumped as the boundary measurement delay. The Smith predictor is applied to the networked boundary control problem and the instability problem due to large delays is solved and the sche...

Systems with delay terms at the left (and the right) side of differential equations are addressed. Analysis and synthesis of delay systems can be conveniently studied through a special ring of RQ-meromorphic functions. The control methodology is based on the solution of Diophantine equations in this ring. Final controllers result in the Smith predictor like structure. A scalar parameter is defi...

This paper presents a constrained horizon predictive controller based on a filtered Smith predictor structure (CHSPPC). The proposed algorithm is particulary appropriate to control dead time systems as it exhibits better robustness than others, specially when errors in the dead time estimation are considered. The tuning of the controller parameters includes a low pass filter that is easy define...

Abstract This paper presents a frequency domain solution to the delay-type Nehari problem. The solvability condition is formulated in terms of nonsingularities of three matrices. The optimal value is the maximal value such that one of the three matrices becomes singular when decreases from to . The all sub-optimal compensators are parameterized in a transparent structure with a modified Smith p...

In this paper a new PID controller design method in a modified Smith predictor configuration is proposed for integrating processes with dead time. A two-degree-of freedom control scheme has been considered where first a controller is designed to achieve the desired set-point response and then the load-disturbance rejecting controller is computed. Both the controllers are designed using the dire...

The performance of a wave-based teleoperator is heavily dependent on the amount of time delay present in the system. Although wave variables provide a very promising method to establish teleoperation in the presence of any time delay, tracking error in a wave-based teleoperator will be increased by increasing time delay. In this paper, we introduce a new method for reducing time delay effects i...

This paper presents a feedback control algorithm for ATM congestion control in which source rates are adjusted according to VC queue lengths at intermediate nodes along the path. The goal is to ""ll in" the residual bandwidth, without exceeding a speciied queue threshold. In order to obtain this, we propose a simple and classical proportional controller, plus a Smith Predictor to overcome insta...

A Nonlinear Generalized Minimum Variance control law is derived for systems represented by an input-output state dependent nonlinear subsystem that may be open-loop unstable. The solution is obtained using a model for the multivariable discrete-time process that includes a state-dependent (nonlinear and possibly unstable) model that links the output and any unstructured nonlinear input subsyste...

This paper presents an attractive position-based visual sewoing approach for camera-in-hand robotic systems. The major contribution of this work is in devising an elegant and pragmatic approach for 3 0 visual tracking. The proposed Modijied Smith Predictor (MSP)-DeMenthon-Horaud (DH) visual sewoing system has shown to be reliable and yielded good target tracking performance. It d@er from the ot...