LAUSR

This work proposes the extension of the simplified filtered Smith predictor (SFSP) for state-space systems to improve rejection of matched and unmatched unknown disturbances in LTI systems with input delay. The proposed structure is simpler than others recently proposed in the literature and can be applied to continuous-time or discrete-time systems. Furthermore, it allows improving rejection of both matched and unmatched disturbances, while also enhancing noise attenuation and robustness characteristics. Finite spectrum assignment (FSA) based implementation is used in order to guarantee the internal stability of the proposed controller. Simulation and experimental results are used to show the usefulness of the proposal.