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中文摘要：
根据改进的量子进化算法提出了一种PIλDμ控制器整定方法。在该方法中，控制器的5个参数KpKi，Kd，λ,μ被选为优化变量。在染色体中，每个量子位有3个Bloch球面坐标，经过解空间变换后，它们对应待求参数的值。同时，在每一代中，最优染色体和最优解可被选择出来，并根据得到的解的性能进行染色体的更新和变异操作。经过若干次的迭代操作，可以得到最优PIλDμ控制器的参数值。在迭代过程中，以积分时间乘以绝对误差（ITAE）作为控制器的性能指标进行最优解的判定。与其他整定方法得到的控制器性能比较，仿真实验结果说明了此方法的有效性。
英文摘要：
A new method of tuning the PIλDμcontroller is proposed, which is based on an improved quantum evolutionary algorithm. For this method, the parameters of fractional order pid （FOPID）,Kp, Ki,Kd,λ and μ, are chosen as optimal variables. On the chromosome, each quantum bit has three Bloch coordinates, and they correspond to the values of the parameters after the operation of transforming solution space. Meanwhile, the best solution and chromosome in each generation can be selected, and the operation of updating and mutation will be done according to the performance of the solutions. Finally, the optimal parameters can be obtained after a couple of iterations, with the integral time absolute error （ITAE） criterion adopted as the performance index. The comparison of performances with other methods demonstrates the effectiveness of this approach.
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