该非线性PID算法构造了增益参数关于误差信号的非线性拟合函数，算法能够同时保证响应速度快、超调量小以及自适应能力强的系统特性。
The nonlinear function is given by the nonlinear PID algorithm, and the algorithm can guarantee the system have the property of the fast response, a little over shot and strong self adaptive.
该方法利用阶跃输入信号获取非线性增益的强一致性估计；利用不同幅值的周期脉冲输入信号获取线性子系统脉冲响应函数的强一致性估计。
The nonlinear gain and the impulse response functions of linear subsystem be obtained by using the step-changeds and cyclic impulse with different amplitudes as input signals.
该方法利用阶跃输入信号获取非线性增益的强一致性估计；利用不同幅值的周期脉冲输入信号获取线性子系统脉冲响应函数的强一致性估计。
The nonlinear gain and the impulse response functions of linear subsystem be obtained by using the step-changeds and cyclic impulse with different amplitudes as input signals.
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