Abstract—In this study, we propose a modified Smith predictor with a plant predictor in continuous-time for an unstable plant with time delay. We use a predicted state feedback technique and the modified Smith predictor to control a plant with time delay. Using conventional predicted state feedback techniques, we can design a plant predictor in discrete-time, but it is not possible in continuous-time. In addition, the design is more complicated. Advantages of this proposed method are; 1) we can design a plant predictor in continuous-time for an unstable plant and 2) the design is simple. Our simulation results show that the proposed method is effective for an unstable plant. In our experiments, we confirm the practicality of the plant predictor in continuous-time by applying a four-wheeled inverted pendulum.
Index Terms—Smith predictor, time delay, unstable plant
The authors are with School of Science and Technology, Meiji University, Kawasaki, Kanagawa 214-8571 JAPAN. Corresponding Author: Kimikazu Kawaguchi (e-mail:kimikawaguchi21@gmail.com)
Cite: K. Kawaguchi, H. Shibasaki, and Y. Ishida, "The Modified Smith Predictor with a Plant Predictor in Continuous-Time for an Unstable Plant with Time Delay," International Journal of Modeling and Optimization vol. 3, no. 1, pp. 61-66, 2013.
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