中文摘要：

针对复杂工业过程中存在的一类模型不确定问题，提出一种新的鲁棒PID控制器参数整定方法。通过将鲁棒PID控制器的参数整定问题转化成一个max-min优化问题，利用微粒群优化（PSO）的协作算法对之进行求解，能获得某种鲁棒性能指标最优的PID控制器。对连续搅拌反应釜系统的实例仿真结果表明：与其它典型鲁棒PID控制器设计方法相比，本方法得到的PID控制器具有更强的鲁棒性和抗干扰能力，当过程操作范围发生大的变化时，利用本方法设计的鲁棒PID控制器能获得满意的结果。

英文摘要：

Aiming at a kind of uncertainties of models in complex industry processes, a novel method for tuning robust PID parameters is stated Parameter tuning for robust PID controller is reduced to solve a maximum-minimum problem, a co-evolutionary algorithm based on particle swarm optimization（PSO） is used for the maximum-minimum problem, and a PID controller with some optimal robust performance index is obtained. The continuous stirred tank reactor （CSTR） system is used for simulations, and results show that the PID controller designed by this method has better robustness and disturbance rejection in comparison with the PID controller based on other typical methods, and has a satisfactory performance in a wide range of process operations.