After the success in decoupling, single neural cell self-adapting PID is adopted to control nonlinear object. The simulation results show that the control strategy gets better effects.

当解耦器训练结束后，对于非线性对象采用单神经元自适应PID来进行控制，仿真结果表明，此控制方案效果较好。

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Then the PID diagonal matrix decoupling control algorithm was adopted in the system based on the matrix transfer function.

再根据系统的传递函数矩阵，采用PID对角矩阵解耦控制算法结合约束条件实现其解耦控制。

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This paper suggests a decoupling in great deviation by ANN control, while PID control can be used to achieve the fast stabilization in small deviation and clean the static deviation.

提出用神经网络控制器实现大偏差范围内的解耦控制，由PID控制实现小偏差时的快速稳定并消除静差。

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