“…These kinds of models were used because the system had a nonlinear actuator, time varying linear parameters and varying dead time systems. For dead time systems some other sophisticated solutions appear like in (Hao, Zouaoui, et al, 2011) that used a neuro-fuzzy compensator based in Smith predictive control to achieved better results. Or other solutions for unknown dead time delays like (Dong-Na, Guo, et al, 2008) that use gray predictive adaptive Smith-PID control because the dead time variation is unknown.…”