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Industry control processes presents many challenging problems, including non-linear or variable linear dynamic behaviour, variable time delay that means time varying parameters. One of the alternatives to handle with time delay systems is to use prediction technique to compensate the negative influence of the time delay. Smith predictor control (SPC) is one of the simplest and most often used strategies to compensate time delay systems. In this algorithm it is important to choose the right model representation of the linear/non-linear system. The model should be accurate and robust for all working points, with a simple mathematical and transparent representation that makes it interpretable.

Adaptable PID Versus Smith Predictive Control Applied to an Electric Water Heater System