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大滞后大惯性对象的控制一直是理论上得到重视但又没有得到充分解决的问题。 Ｓｍ ｉｔｈ 预估器是用于大滞后大惯性对象的有效设计方法，但是对实际过程的参数变化很敏感。为改进 Ｓｍ ｉｔｈ 预估器的鲁棒性，文章首先把 Ｓｍ ｉｔｈ 预估器系统等效成为等价的内模控制系统，在对其稳定性和动态性能分析的基础上，根据回路成形的思想，提出了一种新的 Ｓｍ ｉｔｈ 预估器的解析设计方法，所得控制器可等效成 Ｐ Ｉ Ｄ控制的形式，便于在实践中使用。理论分析和仿真计算表明，该方法能使闭环系统具有较好的动态性能和稳定性，而且鲁棒性较好
The control of large lagged and large inertial objects has always been a problem that has been valued in theory but not yet fully solved. Sm ith predictor is an effective design method for large lag and large inertia objects, but it is sensitive to the change of parameters in the actual process. In order to improve the robustness of Smith predictor, the paper first equates Smith predictor system with equivalent internal model control system. Based on the analysis of its stability and dynamic performance, according to the idea of loop forming , A new analytical method of Smith predictor is proposed. The obtained controller can be equivalent to the form of PID control, which is convenient for use in practice. Theoretical analysis and simulation results show that this method can make the closed-loop system have better dynamic performance and stability, and the robustness is better