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研究了一种自校正ＰＩＤ控制器，该算法不仅在于对象变化时有较好的适应性，而且能较好地克服负荷扰动．经制胶反应釜温度控制应用表明，该算法效果良好．
A self-tuning PID controller is studied. The algorithm not only has better adaptability when the object changes, but also can better overcome the load disturbance. The application of rubber reactor temperature control shows that the algorithm works well.