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中文摘要：
将PID反馈原理引入广义预测控制（GPC）思想，把GPC目标性能函数改造成具有PI的结构形式，根据反馈时延导出多步控制序列，通过时延补偿器对前向时延进行补偿，使控制性能在网络环境下得到极大改善。控制器结合了PID控制和预测控制的优点，具有较强的鲁棒性和工程意义。构造Lyapunov函数对闭环系统的稳定性进行分析，并通过仿真验证了该算法的有效性。
英文摘要：
Based on Generalized Predictive Control（GPC） and PID feedback control, the predictive control system with Proportional-Integral （PI） structure introduced by this paper transforms GPC objective performance function in- to one with PI structure.The controller outputs multi-step control sequence according to the objective performance function and feedback delay.Delay compensator picks out control signal from the sequence to compensate time de- lay.So the system performance is improved greatly.Combining PID control and predictive control advantages, the controller has strong robustness.The stability of the closed-loop system is analyzed.Simulation results demonstrate the effectiveness of the algorithm.
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