一类非自衡过程预测PID控制器的设计及鲁棒稳定性的分析研究*

针对一类非自衡过程，为了提高系统的整体性能，提出了预测PID控制器的设计方法；利用Kharitonov 定理和边缘理论分析此系统在参数不确定情况下输入、输出的鲁棒稳定性，并给出了系统保持稳定的最大过程参数区间。仿真结果表明，当过程参数偏离标称值时，此预测PID控制器的设计方法能够使系统保持很好的鲁棒稳定性，是一种值得在实际工程中推广应用的新型控制器。

Design of predictive PID controller and analysis on robust stability for auto-unbalance plus time delay process

This paper processed a kind of predictive PID controller for auto-unbalance process, for improving the whole performance by using Kharitonov theorem and edge theorem, analyzed the robust stability of input and output when the parameters in uncertainty. Gave the largest ranges of process parameters to ensure stability of system. The simulation results show the good performance and robust stability of predictive PID controller and the predictive controller is suitable for practical application.