中文摘要：

针对时变时滞过程提出一种新的控制结构。在此控制结构中，利用遗传算法自动跟踪系统的时滞变化，由灰色预测模型根据辨识的时滞提前预测出系统的输出，而系统的预测输出与输入的偏差以及偏差变化率为非线性PID控制器的输入。仿真结果验证了这种结构能很好地满足时变时滞系统的快速动态响应和稳定性要求。

英文摘要：

A new control structure was put forward for time-varying delay process. In this control structure genetic algorithm was employed to automatically track the variation of delay. Gray-prediction model was proposed to forecast the output of system in the light of the estimated delay. The error and error rate between system output and system input represented the inputs of nonlinear PID controller. The result of simulation demonstrates that the control structure may achieve the desire of fast dynamic response and stability of the system with time-varying time delay.