中文摘要：

基于LPV模型的非线性系统设计同时满足设定点跟踪和扰动抑制性能的比例积分微分（proportionalinte—gratordifferential，PID）控制器的研究较少，即使对于单一模型系统的设计方法中也很难找到同时满足以上2种性能的PID参数．针对以上问题作者提出了适用于LPV模型系统的鲁棒比例积分（proportionalintegrator，PI）控制器设计方法，首先设计有增益自适应调节的PI控制器满足非线性系统干扰抑制性能，进而追加2个前项增益参数分别调节已设计的自适应P和I参数满足设定点跟踪性能，通过前项增益调节使得控制系统同时满足以上2种设计指标，并通过仿真及实验验证了该法．

英文摘要：

There were few researches to design one PID controller for setpoint regulation and disturbance rejection at the same time based on LPV model, even for a system with single model it was also difficult to find the same PID parameters meeting the above two performances for most of designs. Thus, the authors proposed a method designing PI controller for LPV model systems simultaneously meeting the required design specifications. First, an adaptive PI controller was designed to reject disturbance of LPV model system; Second, two forward gains parameters were proposed to justify the gains of the P and I terms respectively, in order to make the response satisfy the setpoint specification. Third, dynamically switching the forward gains parameters was used to make the response meet the above two specifications. This method was validated through simulations and experiments.