The conventional PID control system was not very suit for this type of system, because the conventional PID control can't accomplish online auto-tuning PID parameter adjust.
常规的PID控制对于这样的系统的控制效果不是很理想。 这是因为常规PID不能根据现场的情况进行在线自我调节参数。
Firstly, it is the variable parameter PID which is able to adjust PID parameters online to improve the control performance through non-linear function according to the bias;
第一种，引入非线性函数根据偏差大小在线调节PID参数来提高控制性能的变参数PID；
Firstly, it is the variable parameter PID which is able to adjust PID parameters online to improve the control performance through non-linear function according to the bias;
第一种，引入非线性函数根据偏差大小在线调节PID参数来提高控制性能的变参数PID；
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