证明Majhi和Atherton(1999)文所提出的改进型Smith预估器等价于一改进的内模控制结构 (IMC) ,并对该结构提出一种三阶段设计方法 .为获得扰动抑制和稳定鲁棒性的均衡 ,采用了鲁棒控制方法来整定反馈环控制器 .针对某些典型的积分和不稳定时滞过程的设计表明所提方法能获得较好的扰动抑制和稳定鲁棒性的均衡 . It is proved that the modified Smith predictor proposed by Majhi and Atherton (1999) is equivalent to an improved internal model control (IMC) structure and a three-stage design method is proposed for the structure.In order to obtain the disturbance rejection and stability Robust control method is used to set the feedback loop controller.Considering some typical integral and unstable time-delay processes, the proposed method shows that the proposed method can achieve a better balance of disturbance rejection and stability robustness .