Motion control tuning for time-delayed systems with integral action

Mechatronic systems often present integral actions and time delay. The Smith Predictor scheme is a common way to deal with time delay in control systems. However, standard Smith Predictor schemes exhibit poor performance when applied on systems with an integral action. This paper introduces a modified Smith Predictor to effectively control systems with both delays and an integral action. Additionally, a user-friendly design method that ensures closed-loop stability is provided. The effectiveness of the approach is verified on simulations and on an experimental motion setup.