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The paper presents the discrete design for tuning the proportional-integral-derivative controller by using the Smith predictor control structure. A feedback filter is inserted to enhance the control loop and to achieve the closed-loop specifications for reference tracking and disturbance rejection. Processes with different characteristics are conducted including a dominant dead time case study. Numerical and experimental simulations are carried out on various systems. The effectiveness of the dead time compensating PID tuning over the standard PID tuning methods is shown to be able to meet the desired performance and to decrease the impact of the dead time over the closed-loop stability.