Of course, this approach requires a certain amount of time to practice.

当然，这种手法需要一定的时间去练习。

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This method does not depend on the precise model, and establish the fuzzy rules under certain control requires. It can improve the Control results by adjusting the parameters in time.

该方法不依赖于系统的精确模型，将待控制量的误差及其变化率作为输入，根据控制要求建立模糊规则，实时输出比例、积分、微分系数的修正量，从而改善控制效果。

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