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2070advanced process control,pac196020501958.,R.1954,195619601961R.E.R.S.-,60-1111213(LMS)(LS)(LMS)(LS)LMSRLS14=Dqq+C(q,q)q+G(q)q (1)DqR nnCq,qRn(nn)GqR nR nTT-VGTli,ii,Lii=1,2nqiqiqii=1,2n1F=Dll+Cl,ii+G(l)l (2)FRn2x=A(x,t)x+B(x,t)F 311516,221Robust Control205020 22, 23,:(1),;(2),; (3),Hoo,Hoo INAPID 24 25 26331PID70MAC-Model Algorithmic Control32MAC33(DMC),(MAC),(GPC),(MPHC)(PFC):(1),;(2),;(3),:,34PIDPID8051A/D8MACPID35;,;,36441,42 43,:(1):,(2):,80, (3):20,.,Isidori:,50,: 444546