Simulation results demonstrate that the proposed controller is robust to both time delay and changes of uncertain parameters, and the system has strong control ability for restraining disturbance.
数值仿真结果表明，所设计的控制器对时滞和不确定参数变化都具有鲁棒性，同时系统对干扰具有很强的抑制能力。
The traditional PI control method based on a plant model is simple, and easy to realize. But, it has not a good restraining effect on the varieties of load disturbance and model parameters.
经典的、基于对象模型的PI控制方法简单、易于实现，但对于一些负载扰动和模型参数的变化，往往不能起到很好的抑制作用。
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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