一、前言众所周知,微计算机用于工业过程控制是工业技术改造,提高劳动生产率和经济效益的最有效的技术措施之一。现有的控制理论,即经典调节原理和现代控制理论,有一个基本的共同特点,就是控制器(控制算法)的设计都需要建立在被控对象精确的数学模型(传递函数或状态方程)的基础之上。但在现实中,许多工业过程控制对象,如液压动力、热力及一些化工过程,其控制对象很难用精确的数学模型所描述,或者即使建立起数学模型亦难于处 I. Preface As we all know, the microcomputer for industrial process control is one of the most effective technical measures for industrial technological transformation and improvement of labor productivity and economic efficiency. The existing control theory, that is, the classical adjustment principle and the modern control theory, has a basic common feature that the design of the controller (control algorithm) needs to be based on the precise mathematical model (transfer function or equation of state) of the controlled object Based on. However, in reality, many industrial process control objects, such as hydraulic power, heat and some chemical processes, the control object is difficult to describe with a precise mathematical model, or even if the mathematical model is difficult to establish