反射是运行时发现的关于给定类或接口的信息，如方法、字段和构造函数。

Reflection is the runtime discovery of information, such as methods, fields, and constructors, about a given class or interface.

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关于如何计算每个实例变量的详细信息，可以查阅该类的构造函数方法，所有这些值都源自那里。

For details on how each instance variable is computed, you can look at the constructor method for the class where all these values are derived.

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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.

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