In this article, it focuses on First order system with time delay and according to PI Controller, it designs four fine turning methods in terms of IAE, ISE, ITSE and ITAE.

• 本文以一阶具时间延迟系统为研究对象，对于PI控制器，以IAE、ISE、ITSE、ITAE为系统的性能指标，并设计四种微调方法；