A simple adaptive Smith-predictor for controlling time-delay systems: A tutorial

This heuristic paper presents several simple techniques for analyzing the stability of time-delay systems. It explains the Smith predictor control scheme for time-delay systems and shows how errors in modeling the plant parameters can cause instability. Then an adaptive controller is added to the Smith predictor system; this pedagogical example offers a complete derivation of a simple adaptive control system. Finally, a new control scheme is discussed that allows zero-latency tracking of predictable targets by a time-delay system.