ROBUST-CONTROL OF TIME-DELAY SYSTEMS USING THE SMITH PREDICTOR

In this paper we study the robust performance of time-delay systems us ing the structured singular value (mu). By employing the properties of the Smith predictor, we are able to convert it to a delay-free proble m. This not only simplifies the analysis and design but also avoids th e problem of the rational time-delay approximation, which is usually n eeded. A SISO design example is given.