Smith predictor

>> conv([1 1],[2 1]);

>> conv([2 3 1],[3 1]);
>> gp=tf(0.6,[6 11 6 1],'inputdelay',3);
>> gpz=c2d(gp,1);
>> gm=tf(0.6,[5 1],'inputdelay',4.3);
>> gmz=c2d(gm,1);
>> g1=tf([0.07839 0.03038],[1 -0.8187],1,'variable','z');
>> dz=0.2/(1+0.2*g1-0.2*gmz);
>> gcl=dz*gpz/(1+dz*gpz);
>> step(gcl);
Step Response
0.12

0.1

0.06

0.04

0.02

10

15

20

25

Kc=0.2

Time (seconds)

Step Response
0.7

0.6

0.5

Amplitude

Amplitude

0.08

0.4

0.3

0.2

0.1

10

15

20

Time (seconds)

25

30

35

Kc=2