A generalized minium variance pole assignment PID self-tuning controller can be used for the system with gentle time-varying delay.The controller algorithm is simplified.Its effectiveness has been shown in many simulation uses.

• 在考虑系统时滞特性的情况下，提出了适合一类时滞系统的广义最小方差极点配置自校正控制器，并对控制器算法进行了简化，使该控制器简单易行，适应性强，仿真结果表明它的有效性。