一、引言直到目前为止,在工业控制系统中普遍采用的仍是以 PID 控制算法为基础的调节器。其原因在于 PID 调节器结构简单、参数的整定比较方便,而且价格低廉。更由于长期使用,控制工程人员已熟练掌握。但在实际系统中经常遇到参数很难准确的用分析的方法得知,或参数随时间变化的情况,这时 PID 调节器或由此而派生出来的其它常规的调节器(如带有前馈的调节器等)就很 I. INTRODUCTION Until now, controllers that are commonly used in industrial control systems are still based on PID control algorithms. The reason is that the PID regulator has a simple structure, the parameter setting is convenient, and the price is low. More due to long-term use, control engineers have mastered. But often encountered in the actual system parameters are difficult to accurately analyze the method that, or parameters over time, when the PID regulator or derived from other conventional regulators (such as with the former Regulator, etc.) is very