具有H∞ 跟踪性能的机器人自适应犘犐犇控制

针对非线性不确定机器人系统的轨迹跟踪控制问题,提出一种鲁棒自适应ＰＩＤ 控制算法．该控制器由主控制器和监督控制器组成．主控制器以常规ＰＩＤ 控制为基础,基于滑模控制思想设计ＰＩＤ 参数的自适应律,根据误差实时修正ＰＩＤ 参数．基于Ｌｙａｐｕｎｏｖ函数设计的监督控制器补偿自适应ＰＩＤ 控制器与理想控制器之间的差异,使系统具有设定的犎∞ 的跟踪性能．最后,两关节机器人的仿真实验结果表明了算法的有效性．     

基于模糊预测的间歇PID控制器

将模糊预测和间歇ＰＩＤ控制器相结合，提出了变控制周期控制器．根据对被调量未来偏差和偏差变化率的模糊预测，合适地选择间歇ＰＩＤ控制器的控制周期，有利于改善具有大纯时滞对象控制系统的动态品质．最后由仿真结果说明了该方法的有效性     

具有H∞ 跟踪性能的机器人自适应犘犐犇控制

针对非线性不确定机器人系统的轨迹跟踪控制问题,提出一种鲁棒自适应ＰＩＤ 控制算法．该控制器由主控制器和监督控制器组成．主控制器以常规ＰＩＤ 控制为基础,基于滑模控制思想设计ＰＩＤ 参数的自适应律,根据误差实时修正ＰＩＤ 参数．基于Ｌｙａｐｕｎｏｖ函数设计的监督控制器补偿自适应ＰＩＤ 控制器与理想控制器之间的差异,使系统具有设定的犎∞ 的跟踪性能．最后,两关节机器人的仿真实验结果表明了算法的有效性．

     

时滞系统PID控制器内模整定方法的扩展

基于内模控制（ＩＭＣ）的ＰＩＤ控制器设计方法只有一个整定参数，其整定参数直接与闭环响应速度和控制回路的鲁棒性有关。对于时滞系统，如果使用非对称的二阶Ｐａｄｅ近似代替，则能导出一个简单的二阶控制器形式，而不会使控制器变得复杂，并且模型匹配和控制器整定将获得有意义的改善，特别是对时滞较大的系统。     

基于遗传算法的预测自整定P I D 控制器

提出一种基于遗传算法的预测自整定ＰＩＤ控制算法。利用预测技术克服时滞,利用遗传算法优化ＰＩＤ控制器参数。对工业过程中典型的大时滞被控过程的仿真表明,这种控制算示鲁棒性强,响应速度快,抗干扰能力强,可构成较实用的工程控制器。     

模糊自适应PID控制器

提出了一种模糊自适应ＰＩＤ（ＦＡＰＩＤ）控制器及其设计方法，并导出了ＦＡＰＩＤ闭环控制系统稳定的充要条件。ＦＡＰＩＤ控制器的设计分为相对独立的两步进行，设计方法简单，便于工程应用。仿真结果表明，与ＰＩＤ控制系统比较，ＦＡＰＩＤ控制系统鲁棒性大为提高，超调量大大减小，动态抗扰能力增强，较好地解决了快速性与小超调之间的矛盾。     

参数不确定时滞系统的鲁棒P ID 控制

提出一种简单而有效的参数不确定时滞系统鲁棒PID控制器设计方法．通过在kp-ki平面上绘制稳定边界线,确定稳定的PID控制器参数区域;推导了一阶不稳定时滞系统PI控制器和PID控制器的存在性条件;基于推广到时滞系统的棱边定理,确定所有鲁棒PID控制器参数集．仿真实例表明了该方法的优越性．     

一种基于规则和学习算法设计的电力系统智能PID控制器

提出了一种基于规则和学习算法设计的电力系统智能ＰＩＤ控制器的设计方法。通过对固定参数电力系统ＰＩＤ控制器性能的研究，验证并获得了一些关于电力系统电压和稳定性控制协调与鲁棒性的结论。在此基础上，研制出一种智能ＰＩＤ控制器，它由基于规则的开关控制和基于学习控制的算法组成。在单机无穷大电力系统中应用的非线性仿真表明，这种智能ＰＩＤ控制器满足电力系统电压和稳定性协调控制的要求，且具有较强的鲁棒性。     

一类时滞对象的PID控制器参数稳定域计算

针对任意阶时滞对象，通过求解控制参数的稳定边界线和判断边界线的哪侧具有更少的不稳定极点，给出一种确定PID控制器参数稳定域的准确计算方法．只要在所得到的稳定域中调节PID控制器参数，就能够保证闭环系统的稳定性，这不仅为时滞对象的PID控制器设计建立了基础，也为其在线调节提供了一条简单有效的途径．仿真实例验证了该方法的有效性，并表明该方法不仅适用于不稳定时滞对象而且也适用于非最小相位时滞对象．     

基地模糊预测的间歇PID控制器

将模糊预测和间歇ＰＩＤ控制器相结合，提出了变控制周期控制器，根据对被调时未来偏差和偏差变化率的模糊预测，合适地造反间歇ＰＩＤ控制器的控制周期，有利于改善具有纯时滞对象控制系统的动态品质，最后由仿真结果说明了该方法的有效性。     

基于改进Smith预估控制结构的二自由度PID控制

针对工业过程中的二阶不稳定时滞过程, 基于改进史密斯预估控制结构提出了一种简单的两自由度控制方案.设定值跟踪控制器和扰动抑制控制器采用同一设计程序, 并基于内模控制原理提出了控制器解析设计方案.设定值跟踪控制器和抗扰动控制器可分别通过单性能参数独立调节和优化, 每个控制器都具有PID形式, 给出了控制器调整参数的选择范围和扰动抑制闭环保证鲁棒稳定性的条件.仿真实例验证了提出方法对于近期其他方法的优越性.     

TWO‐DEGREE‐OF‐FREEDOM CONTROL SCHEME FOR PROCESSES WITH LARGE TIME DELAY

In this paper, an analytical two‐degree‐of‐freedom‐control scheme is proposed for controlling processes with large time delay. The main contributions of this paper are that a setpoint response controller and an H_∞ PID load‐loop controller are developed based on optimal control theory, and control parameters are derived analytically. This structure can also be used to control integrating or unstable processes.     

模糊控制与PID控制的对比及其复合控制

在对PID控制与模糊控制进行对比的基础上提出了一种模糊PID复合控制方案.首先,分别设计了一个常规PID控制器和一个基本模糊控制器;然后,对两种控制方案进行了仿真对比研究,并对它们的优缺点进行了评价;最后,为了将两种方案取长补短、优势互补,设计了一种模糊PID复合型控制器.该复合控制器根据偏差范围的大小,通过模糊控制与...     

Enhanced modified Smith predictor for second-order non-minimum phase unstable processes

In this paper, a modified Smith predictor design is proposed for enhanced control of non-minimum phase unstable second-order time-delay processes with/without zero. The proposed method involves the design of two controllers, i.e. set-point tracking controller and disturbance rejection controller. Set-point tracking controller is designed as a proportional-integral-derivative (PID) in series with a lag filter using direct synthesis method. The disturbance rejection controller is designed as a PID in series with a lead/lag filter based on direct synthesis method. Set-point weighting is considered for minimising the overshoots. The proposed method is applied by simulation on several second-order unstable processes. Robustness studies have been carried out using the small-gain theorem. The method gives good nominal and robust control performances. Significant improvement in the disturbance rejection is obtained with the proposed method when compared to the recently reported methods in the literature.     

Research on the Low-order Control Strategy of the Power System With Time Delay

In this paper, the design problem of the low-order controller is considered for the power system with a fixed time delay. A linear model of the power system with time delay is firstly established. Then the proportional-integral-differential (PID) controller, which is the typical low-order controller, is designed to improve the stability of the power system. The stabilizing region of the PID controller is obtained. The control parameters chosen arbitrarily in the resultant region can ensure the stability of the power system. Finally, based on the stabilizing result, the PID controller satisfying the H_∞ performance index is designed, which improves the robustness of the whole power system. The main advantage of the proposed method lies in that there is no need to approximate the model of the power system. The method can be further extended to the power system which is more complex.      

几种不稳定滞后对象的预测PID 控制

针对几种不稳定滞后过程，给出一种预测PID控制器的结构形式．该控制器具有内环和外环两种控制器：内环控制器主要用于稳定系统；外环控制器具有预测PID控制的结构形式，主要用于消除输入干扰的影响和改善控制系统的动态性能．这种控制器结构简单，可调参数少，且参数的调节方便、直观．仿真结果表明，在干扰和模型失配的情况下，此类预测PID控制器仍具有良好的控制性能和鲁棒稳定性能．     

Maximum sensitivity based fractional IMC–PID controller design for non-integer order system with time delay

A simple approach with a small number of tuning parameters is a key goal in fractional order controller design. Recently there have been a number of limited attempts to bring about improvements in these areas. In this paper, a new design method for a fractional order PID controller based on internal model control (IMC) is proposed to handle non-integer order systems with time delay. In order to reduce the number of tuning parameters and mitigate the impact of time delay, the fractional order internal model control scheme is used. Considering the robustness of the control system with respect to process variations and model uncertainty, maximum sensitivity is applied to the tuning of the parameters. The resulting controller has the structure of a fractional order PID which is cascaded with a filter. This is named a fractional IMC–PID controller. Numerical results are given to show the efficiency of the proposed controller.     

积分时滞过程的数字P I D 控制

对积分时滞过程提出一种数字PID控制结构，通过一个内部反馈回路对积分时滞过程进行预稳定控制，并给出数字PI控制器的设计算法，仿真结果显示该控制结构具有良好的设定值跟踪特性，并且对时滞偏差具有很强的鲁棒性能，最后简要讨论了抗负载干扰的控制结构。     

Pid And Pid‐Like Controller Design By Pole Assignment Within D‐Stable Regions

This paper presents a new PID and PID‐like controller design method that permits the designer to control the desired dynamic performance of a closed‐loop system by first specifying a set of desired D‐stable regions in the complex plane and then running a numerical optimisation algorithm to find the controller parameters such that all the roots of the closed‐loop system are within the specified regions. This method can be used for stable and unstable plants with high order degree, for plants with time delay, for controller with more than three design parameters, and for various controller configurations. It also allows a unified treatment of the controller design for both continuous and discrete systems. Examples and comparative simulation results are provided to illustrate its merit.