【正】 Y2002-63036-1099 0209778通过频率环-成形的自适应/自调谐 PID 控制=Adap-tive/Self-tulling PID control by frequeney loop-shaping[会,英]/Grassi,E.& Tsakalis.K.S.∥2000 IEEEDecision and Control Vol.2 of 5.—1099~1101(HE)This paper addresses issues arising in the on-lineadaptation of PlD eontroller parameters.With frequencyloop-shaping principles as the underlying controller designapproach,the PID parameter adaptation can be per-