The traditional PI control method based on a plant model is simple, and easy to realize.But, it has not a good restraining effect on the varieties of load disturbance and model parameters.

• 摘要经典的、基于对象模型的PI控制方法简单、易于实现，但对于一些负载扰动和模型参数的变化，往往不能起到很好的抑制作用。