:提出一种简单并具有鲁棒性的模糊位置式加积分的控制器自整定算法 .该算法采用模糊自整定的方案 ,它是定义在被控制量的误差 e和误差的变化Δe基础上的 ,可以在线实时调整输出比例因子 Gu.用提出的方案与不含自整定方案的模糊控制器 (简称 FC)分别对一些带有滞后的二阶系统进行仿真、比较 .结果表明 ,采用 STFC算法的系统响应波动性及其动态性能指标较 FC方案的均有明显地改善 ,该算法具有鲁棒性 : A simple and robust self-tuning algorithm for fuzzy position-plus-integral controller is proposed, which adopts the fuzzy self-tuning scheme which is defined on the basis of the error e of the controlled variable and the change of the error Δe , The output scaling factor Gu can be adjusted online in real time.The simulation and comparison of some second-order systems with lag are carried out by using the proposed scheme and the fuzzy controller without autotuning scheme (FC) respectively.The results show that using STFC The system response volatility and its dynamic performance index are obviously improved compared with the FC scheme. The algorithm is robust