In order to achieve the best characteristics of the setting value tracking and the disturbance rejection, a PID controller optimization design method is put forward.
为使PID控制器同时具有给定值跟踪和抑制干扰两个方面的最佳特性，提出了PID控制器优化设计方法。
In order to reduce inconvenience of setting threshold value in watermark algorithm, the amount of calculation is reduced to extracting watermark.
为了减少水印算法中设置阈值带来的不便，减少水印提取时的计算量。
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