众所周知，完全微分pid的微分作用只持续一个周期，微分作用相当于不怎么起作用，从而不能达到有效超前控制误差的目的。

As we all knew, the differential action of the complete differential PID controller had nearly no effect as which last only one period, so that the advance control of error can't be achieved.

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本文讨论了参数估计和输出误差的收敛性，并给出了系统持续激励的一个充分条件。

This paper presents new development of parameter identification for MIMO discrete stochastic linear systems with random parameters based on the least squares method.

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