清华大学硕士论文。

本文利用广义 Hermite-Biehler

定理，提出在 PID 控制器参数稳定域内设计高阶对象的最优 PID 控制器，

与此同时利用 Kharitonov 定理、Monte-Carlo 随机实验方法和 H∞混合灵

敏度约束研究 PID 控制器的鲁棒稳定性和性能鲁棒性。

-The algorithm for parameter’s region

of PID controller, which satisfies H∞ mixed sensitivity restriction, has been studied,

and a PID controller with the optimal H∞ mixed sensitivity norm criterion has been

designed. All this work has demonstrated that the proposed method can gain

effectively control in thermal process control.