提出了一种基于模型参考的自适应 PID控制器 ,通过引入一自适应误差信号 ,根据模型参考自适应控制原理的方法 ,推导了 PID参数整定的自适应率 .仿真结果表明 ,该控制器与典型的PID控制器相比 ,显著提高了系统的动态响应性能 ,系统输出能够很好地跟踪参考模型的输出 ,具有一定的抗干扰性 ,鲁棒性较好 An adaptive PID controller based on model reference is proposed, which adapts to the principle of model reference adaptive control by introducing an adaptive error signal. The adaptive rate of PID parameter tuning is deduced. The simulation results show that the controller and Compared with the typical PID controller, the dynamic response performance of the system is significantly improved. The output of the system can track the output of the reference model very well, has a certain degree of anti-interference, and has good robustness