double gap
双线分离度 doublet separation
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在大时变鲁棒数字PID控制方法的基础上，结合二自由度的内模控制结构，实现了控制器参数的数字双PID分离设计。
Separate designs of a dual PID controller were presented based on the large time-varying robust digital PID control combining with two degrees of freedom internal model control structure.
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