(* Section 13.5 *)

Kc =10

τI = 203.3

τD = 50.826

pidc =(TransferFunctionModel[ Kc (1+(1/(τI s))+τD  s ), ]);

model = (TransferFunctionModel[((0.075  Exp[-27s])/(s (1 +146s) )), ]);

smith = SmithDelayCompensator[model,pidc];

cloop = Simplify@SystemsModelFeedbackConnect[SystemsModelSeriesConnect[smith,model]];

p1 = Plot[Evaluate[OutputResponse[cloop,15.0,{t,0,300}]],{t,0,300},PlotRange->All]