关键词: 比例-积分-微分（PID）, 卡尔曼滤波算法, 遗传算法, 增量式比例-积分-微分（PID）, 分段控制

Abstract: The traditional PID control based on the Kalman filtering algorithm, is very good in the filtration of the controlled noise and the measuring noise. But there are some problems in the systematic convergence rate, overshoot, et al. It is because the PID parameter has not achieved optimally. In order to solve this problem, this paper combines genetic algorithm, and introduces the increment subsection control to improve the structure of control signal. After Matlab simulation, the proposed method has few data, faster parameter optimization, faster system convergence and smaller overshoot. The method is simple and available.

Key words: Proportional-Integral-Derivative（PID）, Kalman filtering algorithm, genetic algorithm, incremental Proportional-Integral- Derivative（PID）, subsection control