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a Smith Predictor
A controller equipped with an accurate process
model can ignore deadtime. Deadtime generally
occurs when material is transported from the
actuator site to the sensor measurement
location. Until the material reaches the sensor,
the sensor cannot measure any changes
effected by the actuator.
Vance VanDoren, PhD, PE
02/17/2015
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For
the purposes of feedback control, deadtime is the delay between the
application of a control effort and its first effect on the process
variable. During that interval, the process does not respond to the
The second term that Smith's strategy introduces into the feedback
path is an estimate of what the process variable would look like in the
absence of both disturbances and deadtime. It is generated by
running the controller output through the first element of the process
model (the gains and time constants), but not through the time delay
element. It thus predicts what the disturbance-free process variable
will eventually look like once the deadtime has elapsed, hence the
expression Smith Predictor.
Subtracting the disturbance-free process variable from the actual
process variable yields an estimate of the disturbances. By adding
this difference to the predicted process variable, Smith created a
feedback variable that includes the disturbances, but not the
deadtime.
So what?
The purpose of all these mathematical manipulations is best
illustrated by the "Smith Predictor Rearranged" block diagram. It
shows the Smith Predictor with the same blocks arranged to yield the
same mathematical results, only computed in a different order. This
arrangement makes it easier to see that the Smith Predictor
effectively estimates the process variable (including both
disturbances and deadtime) by adding the estimated disturbances
back into the disturbance-free process variable. The result is a
feedback control system with the deadtime outside of the loop.