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This paper discusses the use of a modified Smith predictor for latency (i.e. time delay) compensation, to assist in the implementation of network computer based control systems. Such systems typically have a variable time delay associated with the transfer of information; the modified Smith predictor is robust to time delay variations.
O'Dwyer, Aidan : Latency compensation control of computer based control systems. Proceedings of the IT&T Conference,Institute of Technology, Carlow, October, 2006, pp.207-208.