As to the problem of tuning PID-CCC controller parameters, Cross-coupling fuzzy self-tuning based on CETF (contouring error transfer function) is proposed, which is robust to the parameters of plants.

针对通常PID - CCC控制器参数的整定困难问题，在轮廓误差传递函数(CETF)的基础上提出采用在线模糊CCC控制器参数自整定方法。

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