自适应PID控制──I．基本原理与算法

Adaptive PID controller──part I.The basic principle and algorithm

本文是“自适应ＰＩＤ控制”的第一部分。文中分析了自适应ＰＩＤ控制的基本原理和基本算法，给出了部分算法的仿真结果并指出了自适应ＰＩＤ控制的发展方向。第二部分中［４］，讨论了自适应ＰＩＤ控制的一般性理论问题。

This paper is the first port of the literature,Adaptive PID controller. Some results on basic principle and algorithms of adaptive PID controller are presented and the future direction in adaptive PID controller are explored. The numerical simulation resultS have been given for some typical schemes. In the second part,the general theoretical problems of adaptive PID controller,such as convergence, are studied.