As we all knew, the differential action of the complete differential PID controller had nearly no effect as which last only one period, so that the advance control of error can't be achieved.

众所周知，完全微分pid的微分作用只持续一个周期，微分作用相当于不怎么起作用，从而不能达到有效超前控制误差的目的。

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The PID controller has a simple structure and doesn't rely on the math model, the integral action included observes and restrains the uncertainties of the plant.

该控制器结构简单，易于实现，且不依赖对象数学模型，所包含的积分环节能有效观测并抑制对象中存在的不确定性。

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