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根据内模控制原理和现代鲁棒控制理论，针对Ｓｍｉｔｈ预估补偿方法，提出了一种新的一维鲁棒ＰＩＤ控制器设计方法，其优点是控制器的参数可以解析得到，且只有一个可调参数，被调参数与系统的鲁棒性有直接的联系，可较好地用于大纯滞后控制对象，为提高Ｓｍｉｔｈ预估系统的鲁棒性提供了一种有效的ＰＩＤ整定算法。
According to the internal model control theory and the modern robust control theory, a new one-dimensional robust PID controller design method is proposed for the Smith predictor compensation method. The advantage of this method is that the controller parameters can be analyzed and only one The parameters of tuning and the parameters to be tuned are directly related to the robustness of the system and can be used to control large dead time lag effectively. An effective PID tuning algorithm is provided to improve the robustness of Smith predictive system.