The relay feedback self-tuning PID based on internal model control (IMC) was adopted for self-tuning PID controller for long time-delay process.

大时滞过程的自整定pid控制器，采用基于内模控制策略的继电型PID自整定。

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Simulation shows that if chosen the appropriate ANN structure and training data quantity, its ANN internal model self-tuning control can be realized and the results can be acceptable.

仿真研究表明，只要恰当地选择神经网络正、逆模型的结构和辨识数据的长度等参数，实现加热炉神经网络内模自校正控制的结果是令人满意的。

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