该控制器能够根据系统的误差、误差变化及误差积分值自动调整控制器的控制参数，使模糊控制器具有自适应的能力。

The parameter of the controller can be auto-adjusted by the error, error change and the integral value. It makes the fuzzy controller have the ability of self-adaptive.

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将模糊控制与常规pid控制相结合，根据不同的误差、误差变化率对PID的参数进行在线自动调整，这就是PID参数自整定模糊控制器。

Combine blur control with general PID control, on line self-adjusting PID parameters according to different error and error variety-rate, which is called PID parameters self-tuning blur controller.

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斜坡根据密度跟踪误差和误差变化情况，通过模糊逻辑对控制器参数进行调整，确定了测量速度。

The ramp metering rate is determined by the PID controller whose parameters are tuned by fuzzy logic according to the density tracking error and error variation.

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