... 3 控制方案设计(Designing the control scheme) 3.1 控制器结构(The controller structure) 3.2 模糊控制算法(Fuzzy control algorithm) ...
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设计改进型PID控制器结构。
所得到的控制器结构简单，易于实现，保留了系统的非线性特性。
The controller obtained is simple and easy to realize. Especially, the nonlinear property of the system is well preserved.
仿真和实验结果都表明了控制方案的有效性，而且该控制器结构简单、参数可在线调整。
Simulation and experiment results demonstrated the efficiency of the control method. The controller has a simple structure and its parameters can be tuned on line.
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