【摘要】 对传统的数字PID结构进行了改进，增加了对给定值的滤波作用，同时考虑了串级控制方案，使极点配置自校正技术处理复杂工况（外扰、时滞、非最小相位、开环不稳）的能力有了较大的提高，仿真结果表明了所给控制器的有效性更多还原

【Abstract】 The commn controller with PID algorithm was improved. The filtering function for given value was added. A cascadc controller with pole-placement self-tuning PID algorithm is proposed in the paper. The improvd controler can be used to deal with thc non-minimum phase, unstable open-loop and delay. fore simulation examples proved the efficiency of the cascade controller.更多还原