推导了PID广义预测控制器(PID-GPC)的闭环反馈结构, 采用小增益定理获得了存在建模误差(MPM)情况下PID-GPC鲁棒稳定的一个充分条件。然后在频域内分析了PID-GPC控制器的参数选择对其鲁棒性的影响。

The closed-loop feedback structure of PID generalized predictive control (PID - GPC) is proposed, then small-gain criterion is used to obtain a sufficient condition for the robust stability of PID - GPC under the condition of model-plant mismatch ( MPM) . Further more, the influence of PID - GPC parameter tuning on its robustness is analyzed in frequency domain.