Design a Smith Predictor for a Tank Reactor

    
An isothermal continuous stirred-tank reactor (CSTR) can be modeled by a first-order-plus-time-delay system:
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Design a Smith predictor for a PI controller and delay 1:
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Obtain the closed-loop system, assuming that the delay is not exactly 1:
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The sensitivity of a step response to errors in the approximation:
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