Abstract: To solve the control problem of Continuous-Stirred-Tank-Reactor (CSTR), a straightforward PID design based on closed-loop gain shaping algorithm was proposed in this paper to enhance the simplicity and robustness of PID controller. Firstly, the transfer function of the anticipant closed-loop control system was assumed as a 1st order system, and the actual closed-loop transfer function was consisted of the 1st order transfer function and PID controller. Then, the anticipated closedloop transfer function was compared with that of the actual closedloop, thus the PID controller coefficients could be calculated. Finally, the robust PID controller was designed in a CSTR system. The simulation results demonstrate that the PID controller has better robust stability and dynamic performance.

Key words: PID controller, closed-loop gain shaping, robust control, 1st order plant, Continuous-Stirred-Tank-Reactor (CSTR)

摘要： 针对连续搅拌反应釜（CSTR）系统控制问题，设计了一种基于闭环增益成形算法的PID控制器，以提高PID控制器设计的简洁性和鲁棒性。首先假设期望闭环回路传递函数有一阶形式，同时将受控对象的一阶传递函数和PID控制器构成实际闭环回路传递函数。然后，比较期望闭环回路传递函数和实际闭环回路传递函数，即可确定PID参数。最后，以某CSTR系统为例，利用该方法设计了PID控制器，并通过仿真结果比较，检验了该方法所得PID控制器的良好鲁棒稳定性和动态品质。

关键词: PID控制器, 闭环增益成形, 鲁棒控制, 一阶对象, 连续搅拌反应釜