Section 6.1 The Quasi-Ho Smith Predictor Introduce the filter J(s)= 1 (As+1)9 where A is the performance degree.In light of the discussion in Section 5.7,nj is chosen as follows: 可={eM}-eM}日eM产eN} deg{M_}deg{N_} The suboptimal proper controller is M_(s) Q(S)=KN-(5)s+1” The closed-loop transfer function is 1 T(s)=7 s+1)% 4口，+@，4定4=定0C Zhang.W.D..CRC Press.2011 Version 1.0 6/74Section 6.1 The Quasi-H∞ Smith Predictor Introduce the filter J(s) = 1 (λs + 1)nj where λ is the performance degree. In light of the discussion in Section 5.7, nj is chosen as follows: nj =  deg{M−} − deg{N−} deg{M−} > deg{N−} 1 deg{M−} = deg{N−} The suboptimal proper controller is Q(s) = M−(s) KN−(s)(λs + 1)nj The closed-loop transfer function is T(s) = 1 (λs + 1)nj Zhang, W.D., CRC Press, 2011 Version 1.0 6/74