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中文摘要：
研究输入延迟未知对象特征模型的控制问题．采用闭环系统直接求根方法，结果表明：最小方差控制对未知输入延迟不具有鲁棒性，原型黄金分割控制能应对较小的未知输入延迟变化，λ型黄金分割控制能应对较大的未知输入延迟的变化．针对稳定、临界稳定、不稳定以及双积分特征模型，在未知的输入延迟条件下，进一步研究了原型和λ型黄金分割控制器对未知输入延迟的稳定性和性能鲁棒性．对稳定的被控对象，λ型黄金分割控制器，可应对很大的未知输入延迟，且闭环性能基本不变；对非稳定对象的特征模型，λ型黄金分割控制器，可提高应对未知输入延迟的稳定能力。通过优选λ，可优化闭环性能．
英文摘要：
The control problem of characteristic model with unknown input delay is studied. Using the method of directly solving the roots of the closed-loop system, the results show that the minimum-variance controller is not robust to unknown input delay, the prototype golden-section controller can deal with small input delay, and the λ type golden-section controller can deal with larger input delay. Considering a stable, oscillating, unstable two-integrator characteristic model, the stability and robustness performance of the closed-loop system are further analyzed respectively for the prototype and the A type golden- section controller with unknown input delay. For stable controlled plant, the λ type golden-section con- troller is tolerable with large input delay, and the closed-loop system performance is basically unchanged. For unstable plant, the λ type golden-section controller can improve the stability and performance by optimizing λ.
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