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研究了具有延滞不确定系统的鲁棒控制问题．指出该问题可以统一在Ｈ∞框架下进行处理．讨论了权函数的选择，求解Ｈ∞鲁棒ＰＩＤ控制器，并对锅炉过热汽温控制进行了仿真研究，结果表明本文的设计方法是有效的．
The robust control problem with uncertain systems with delay is studied. Pointed out that the problem can be unified under H ∞ framework for processing. The choice of weight function is discussed, and H∞ robust PID controller is solved. The simulation of overheated steam temperature in boiler is simulated. The results show that the design method of this paper is effective.