以灰色系统理论为基础，对系统不确定部分建立灰色模型，进行灰色预估补偿，使控制系统的灰量得到一定程度的白化，可以提高PID控制质量及其鲁棒性-Gray system theory, the uncertain part of the system to establish the gray model for gray Predictor, the control system to some extent the amount of gray albino, can improve the quality and robustness of PID control