On the modified Smith predictor for controlling a process with an integrator and long dead-time

A dead-time compensator for controlling higher-order processes with integral action and long dead-time is proposed. Tuning formulas are derived. If the velocity gain and the dead-time are estimated experimentally, only one parameter, the time constant defining the speed of the closed-loop setpoint response, has to be tuned manually. The same setpoint response is obtained as in the modified Smith predictor, while the load disturbance rejection is considerably faster