工业过程自动化中使用 PID 调节器非常普遍。在以传递函数描述的单输入、单输出的线性系统中,已肯定了这种控制方式的成功;在以状态空间描述的多变量系统中也得到了证实。Ziegler-Nichols 方法对线性定常的和对象特性未知的情形是有效的。而在参考文献[2]、[3]、[4]、[5]中所述的许多其它方法,常常带有整定三个参数 K_p(比例作用)、K_(?)(积分作用)和K_d(微分作用)(图1)一种假定的试凑过程。 It is very common to use PID regulators in industrial process automation. The success of this type of control has been confirmed in single-input, single-output linear systems described by the transfer function; it has also been demonstrated in multivariable systems described in state space. The Ziegler-Nichols method is valid for linear stationary and unknown object properties. However, many of the other methods described in references [2], [3], [4] and [5] are often accompanied by setting of three parameters K_p (proportional action), K _ (integral action) and K_d (Differential Effect) (Figure 1) A hypothetical trial and error process.