Based on the experiment, the mathematical model of close-loop temperature-controlling system and PID controller were constructed.

以实验为基础，建立了闭环温度控制系统的数学模型，构造了相应的PID控制器。

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This paper discussed the structure and principle of EPS system, established the state space equation of EPS, designed PID close loop controller, and set the parameters.

阐述了EPS系统的结构原理，建立了EPS状态空间方程，设计了PID闭环控制器，并对参数进行了整定。

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This controller decouples the processes of tracking and disturbance restraining. The close-loop system is robust to the model uncertainties.

该控制器能够实现设定值跟踪与扰动抑制过程解耦，同时在对象模型失配情况下，系统具有较强的鲁棒稳定性。

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