介绍了一种基于最，j,-最大原理整定鲁棒PID控制器参数的方法，并应用MA ⅡAB

优化工具箱函数按非线性二次规划法搜索合理的PID参数。仿真结果表明，优化函数寻找

最佳PID参数简便可靠；当模型在一定范围内变化时，按该方法整定的鲁棒PID控制器均

能保证控制系统的动态性能良好。-Introduced based on the most, j,- setting the maximum principle method of robust PID controller parameters, and apply the MA Ⅱ AB optimization toolbox functions are nonlinear quadratic programming the search reasonable PID parameters. Simulation results show that the optimization function to find optimal PID parameters is simple and reliable　when the model changes within a certain range, according to the method of robust PID controller tuning control system can guarantee a good dynamic performance.