This paper proposes the array chain chromosome coding and the Adaptive GA (AGA) that combines the self-adaptive mutation probability and simulation anneal punishment function.

提出了数组链染色体编码方式，以及基于自适应性变异概率和模拟退火惩罚函数法的适应性遗传算法（AGA）。

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The nonlinear function is given by the nonlinear PID algorithm, and the algorithm can guarantee the system have the property of the fast response, a little over shot and strong self adaptive.

该非线性PID算法构造了增益参数关于误差信号的非线性拟合函数，算法能够同时保证响应速度快、超调量小以及自适应能力强的系统特性。

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The distributed PID function model can be widely used in sliding-mode control system, self-adaptive control system and internal-mode control system.

分散PID功能模型可以广泛应用于滑模控制系统、自适应控制系统和内模控制系统。

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