In a feedback control loop, when there exists a delay in processing the control signal (often called computational delay), it is difficult to stabilize the system, particularly when the system exhibits uncertainty. To solve this problem, we proposed a new robust proportional integral control strategy for a class of uncertain systems exhibiting parametric uncertainty. A two-stage scheme is proposed in which the first stage identifies the worst plant that has the highest chance of facing instability; and in the second stage, based on the worst plant, the tuning parameters of the proportional integral controller are determined using the stability boundary locus approach under the desired closed-loop specifications of gain and phase margins. The efficiency of the proposed scheme is verified for servo and regulatory control problems.

在反馈控制回路中，当处理控制信号时存在延迟（通常称为计算延迟）时，很难稳定系统，尤其是在系统显示不确定性时。为了解决这个问题，针对一类具有参数不确定性的不确定系统，提出了一种新的鲁棒比例积分控制策略。提出了两个阶段的方案，其中第一阶段确定最有可能面临不稳定的最坏植物；在第二阶段，基于最差的工厂，在期望的增益和相位裕度闭环规格下，使用稳定性边界轨迹方法确定比例积分控制器的调整参数。针对伺服和调节控制问题验证了所提方案的效率。