Section 6.1 The Quasi-Ho Smith Predictor 6.1 The Quasi-Ho Smith Predictor Chapter 4 and Chapter 5:The controller is analytically designed by minimizing the weighted sensitivity function This section:The controller is analytically designed by specifying the desired closed-loop response Actually,a simplified version of this method was already used in Sections 5.5 and 5.6 Consider the diagram of the Smith predictor in Figure,where G(s) is the plant,G(s)is its model,and Go(s)is the delay-free part of G(s).If the closed-loop transfer function T(s)is known,the controller of the Smith predictor is T(s) R(s)= G(s)-T(s)Go(s) 4口，+@，4定4=定0C Zhang.W.D..CRC Press.2011 Version 1.0 3/74Section 6.1 The Quasi-H∞ Smith Predictor 6.1 The Quasi-H∞ Smith Predictor Chapter 4 and Chapter 5: The controller is analytically designed by minimizing the weighted sensitivity function This section: The controller is analytically designed by specifying the desired closed-loop response Actually, a simplified version of this method was already used in Sections 5.5 and 5.6 Consider the diagram of the Smith predictor in Figure, where G˜ (s) is the plant, G(s) is its model, and Go(s) is the delay-free part of G(s). If the closed-loop transfer function T(s) is known, the controller of the Smith predictor is R(s) = T(s) G(s) − T(s)Go(s) Zhang, W.D., CRC Press, 2011 Version 1.0 3/74