Performance Analysis of a DC-Motor Control System with Time-Delay: Smith Predictor vs Optimization-based Controller Design

Smith predictor-based and optimization-based controller design for a DC-motor control system with a time-delay in the feedback loop is considered. It is shown that, compared to the Smith predictor-based controller, the optimization-based controller can preserve stability against larger variations in the system parameters and the time-delay. Furthermore, by simulations and actual experiments, it is verified that the optimization-based controller outperforms the Smith predictor-based controller when the system parameters and, especially, the time-delay varies.