Combine blur control with general PID control, on line self-adjusting PID parameters according to different error and error variety-rate, which is called PID parameters self-tuning blur controller.

将模糊控制与常规pid控制相结合，根据不同的误差、误差变化率对PID的参数进行在线自动调整，这就是PID参数自整定模糊控制器。

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