Fuzzy immune control based on the theory of immune feedback, can make the system having definite adaptive capability and robustness, also its performance will be superior to conventional PI control.

而基于免疫反馈原理的模糊免疫PI控制使系统具有一定的自适应能力和较强的鲁棒性，其控制性能优于常规的PI控制。

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On above mentioned condition, a fuzzy-PI dual-mode adaptive speed control scheme is proposed, in which the control mode is selected momentarily according to the working condition.

在未知控制对象精确参数及数学模型的情况下，提出了超声波电机的模糊-PI双模速度控制策略，系统根据工作状况随时调整控制模式。

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