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本文讨论非自衡对象ＰＩＤ控制器设计问题．首先在鲁棒控制理论的基础上定义了最优性能指标，然后针对控制系统性能传递函数的特点发展了两种设计方法，通过引入２型滤波器使系统满足了渐近跟踪的要求，并解析地得到了ＰＩＤ控制器．控制器的特点是标称性能可以定量地估计，鲁棒性可以方便地调节．
This article discusses the non-self-balancing PID controller design issues. Firstly, the optimal performance index is defined based on the theory of robust control. Then two design methods are developed according to the characteristics of the transfer function of the control system. By introducing the type 2 filter, the system satisfies the requirement of asymptotic tracking. Got the PID controller. The characteristic of the controller is that the nominal performance can be estimated quantitatively and the robustness can be easily adjusted.