Multiple PID, Multiple Sliding mode and Multi-model based fuzzy controllers are introduced to solve the speed, depth, pitch and yaw control problem respectively.
以多模型PID、多模型滑模控制和多模型优化的模糊控制算法解决深度、速度、纵倾和航向控制问题。
A tuning method for decentralized PID controllers was developed based on probabilistic robustness for use in multi-input-multi-output plants with varying parameters.
基于概率鲁棒方法，针对具有实参数不确定性的多输入多输出被控对象，提出一种分散PID控制器设计方法。
Finally, the designed PID controllers have been used to make some experiments on multi-tank liquid level system, acquiring processing curve and experimental datas through configuration software.
最后，用设计的PID控制器在多容液位系统上进行实验，通过组态软件获得过渡过程曲线和实验数据。
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