A set of equations of optimal fixed-lag smoothing filter are obtained by using optimal fix-lag smooth time forward-recurrence algorithm and solving the built system mathematic model.
采用最佳固定滞后平滑的时间向前递推的算法，对所建立的系统数学模型求解，得出了最佳固定滞后平滑滤波的一组方程。
An algorithm of the optimal prediction self-tuning PID controller that overcomes time-varying large lag and parameters is presented in this paper.
本文提出了一个克服时变大时滞及被控过程参数时变的最优预报自校正PID控制算法。
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