Chapter 1 reviews the state - of - the - art in pid controller , represents the three methods for designing pid controller : imc - based method , frequency method and direct synthesis method , and introduces some control performance measures . moreover , a short survey of controller performance assessment and monitoring technique is given 在回顾pid控制器的历史和发展现状的基础上,着重介绍内模法、频域法和直接综合法三种重要的pid控制器设计方法和控制系统性能指标,综述了目前控制器性能评价技术及其应用情况。