Detailed IMC-PID controllers which have filter time constant as their only tuning parameter for processes mentioned above is acquired. Tuning results of such controller are put forward as well.

详细导出了适用于上述过程的仅需整定一个参数的IMC—PID控制器，并给出了IMC—PID控制器的滤波器参数整定结果。

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The PID controller is composed of the equivalent interference signal, the controlled objects, the object model, IMC, feedback filter and reference input filter.

该控制器由等效扰动信号、被控对象、对象模型、内模控制器、反馈滤波器及参考输入滤波器组成。

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A digital FIR speed filter and a digital PID speed controller are designed. The performance and results of the system are analyzed.

提出了一种数字FIR速度滤波器以及数字PID速度控制器的实现机制，分析了各控制系统的功能及结果。

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