在确保PID零极点不变的基础上，将开环递推整定算法引入到闭环系统中，提出了自适应pid控制算法。

Keeping the zeros and poles of the PID unchanged, an adaptive PID controller is presented using the proposed recursive algorithm in the closed-loop system.

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基于对被控对象传递函数的估计，提出一种闭环pid参数整定方法。

Based on the estimation of a controlled plant's transfer function model, a method for the self-tuning of PID controllers in closed-loop system is proposed.

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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。

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.

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