§1 引言 调节问题和随动(跟踪)问题是经典自动调理论研究的主要内容之一。如图(1)所示。 图中y是被调量即系统输出,y_r是给定值,=y,-y是偏差,w是外界干扰,u是控制输入,G(s)是装置的传递函数,k(s)是调节器的传递函数。经典自动调节理论研究的主要问题之一是如何设计k(s),使得i)闭环系统稳定;ii)达 §1 Introduction The problem of adjustment and follow-up (tracking) is one of the main contents of the study of classical autotune theory. As shown in Figure 1. In the figure, y is the output of the system to be tuned, y_r is the given value, y is the deviation, w is the external disturbance, u is the control input, G (s) is the transfer function of the device, and k Regulator transfer function. One of the major problems in the classical theory of automatic tuning is how to design k (s) so that i) the closed-loop system is stable; ii)