A kind of predictive PID PPID controller for several types of unstable plus time delay processes is proposed.
针对几种不稳定滞后过程，给出一种预测PID控制器的结构形式。
Simulations show that the predictive PID controller remains excellent control performance under disturbance, noise and model mismatch, which is very suitable for large time delay process.
通过仿真表明：在干扰、噪音存在和模型失配的情况下，预测PID控制器具有良好的控制性能，特别适合大纯滞后系统的控制。
Simulations show that the predictive PID controller remains excellent control performance under disturbance, noise and model mismatch, which is very suitable for large time delay process.
通过仿真表明：在干扰、噪音存在和模型失配的情况下，预测PID控制器具有良好的控制性能，特别适合大纯滞后系统的控制。
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