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一、引言自适应控制器的研究已经进展到在工业中应用的地步,PID 控制器的自适应和自整定在工业控制的制造商和用户中已得到公认,也有一些通用性自适应控制器供工业使用(见 Astrom 1987.Seborg 等1986.Astrom 等1989).工业应用揭示出了自适应控制器需求和限制条件方面的信息。使用方便是一个主要要求。这就是为什么只需一个简单按扭即可完成整定工作的自动整定器受欢迎的原因,许多通用自适应控制器要求较好的了解系统的性质和
I. INTRODUCTION Research on adaptive controllers has progressed to the point of application in industry. Self-adaptation and self-tuning of PID controllers has been recognized by manufacturers and users of industrial controls. There are also some universal adaptive controllers available Industrial use (see Astrom 1987. Seborg et al. 1986. Astrom et al. 1989). Industrial applications reveal information on adaptive controller requirements and constraints. Easy to use is a major requirement. This is why the auto-tuner, which performs the tuning task with a simple push of a button, is a popular reason that many generic adaptive controllers require a better understanding of the nature of the system and