断奏重复的速度由上下运动的数量来控制：动作越小，频率越高，这与篮球的运球原理完全一致。
Speed of staccato repetition is controlled by the amount of up-down motion: the smaller the motion, the faster the repetition rate, in exactly the same way as a basketball dribble.
这是因为在相关实验中的控制器算法设计在基本原理上具有一致性。所应用的控制算法包括PID、模糊、DMC预测控制以及对象过程特性的继电反馈辨识。
In succession, the paper introduces the control algorithms used in experiment, which include PID control, fuzzy logic control, DMC predictive control and relay feedback identification.
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