The path following control system is obtained by a non-linear controller.

本文的路径跟踪控制系统由非线性控制器组成。

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To the widely existed characteristics of time-delay, non-linear and timevarying of parameters in the industry process, an adaptive neuron-fuzzy PID controller based on optimal prediction is presented.

针对工业过程中普遍存在的时滞、非线性、对象参数时变等特性，提出了一种基于最优预测的神经元模糊自整定PID控制算法。

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According to the non-linear mapping relations between PID controller each control variable and error, design non-linear PID controller.

根据PID控制器各控制参数与偏差之间的非线性映射关系，设计非线性PID控制器。

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