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深入分析了基于极点配置理论和鲁棒控制基本原理而提出的鲁棒ＰＩＤ控制器，导出了该控制器极点配置的约束条件，提出了一种基于对象开环阶跃响应辨识对象参数的控制参数自动整定方法． 就不同的对象（包括τ／Ｔ＝ ２０ 的对象）进行的仿真结果表明，该方法是相当有效的，具有广阔的应用前景
The robust PID controller based on the pole placement theory and the basic principle of robust control is deeply analyzed. The constraints of the pole placement of the controller are derived. A control parameter based on the object open loop step response is proposed Automatic tuning method. The simulation results of different objects (including τ / T = 20 objects) show that this method is quite effective and has a broad application prospect