由于PID控制器具有简单而固定的形式和良好的鲁棒性，因而在工业生产中得到广泛的应用。但由于控制系统的复杂性和非线性等因素，使PID控制器的参数受到了影响，因此如何整定PID控制器的参数成为当前乃至今后的研究热点。对PID自整定进行了matlab仿真(PID controller is widely used in industrial production because of its simple and fixed form and good robustness. However, because of the complexity and nonlinearity of the control system, the parameters of the PID controller are affected. Therefore, how to tune the parameters of the PID controller has become a hot research topic at present and in the future. The PID self-tuning is simulated by MATLAB)