针对带有不确定性和外界扰动的非线性系统，讨论了鲁棒自适应干扰衰减控制器的设计方法。
A design method of the robust adaptive disturbance attenuation controller for nonlinear systems with uncertainty and disturbance is discussed.
其中直接自适应模糊控制器还与PID控制器一起组成并行控制系统来抑制系统静态误差和动态干扰。
Adaptive fuzzy controller was combined with PID controller to compose parallel control system, which was aimed at reducing static error and suppressing dynamic disturbance of the whole system.
为适应系统的抗干扰能力，设计了模糊pid控制器。
A controller of fuzzy PID is also designed to increase the ability of anti interfere.
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