The dynamic and static performance index is greatly improved through decreasing quantization errors and combining with PI controller that operate nearby set point.

同时，通过削弱量化误差以及在设定点附近引入PI补偿控制器，提高了系统的动态、静态性能指标。

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Fuzzy PI controller has good robustness and flexible control, but it has maximal overshoot and slow response when used in the process with large time delay.

模糊PI控制器具有鲁棒性强、控制灵活等优点，但是将其应用于纯迟延系统时超调量较大、响应速度慢。

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Improved ILMI algorithm is developed to solve the problems of the PI controller design.

并提出改进ILMI算法，用于解决控制受约束PI控制器求解问题。

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At a recent competition for schools to come up with clever uses for the Raspberry Pi - the ultra-cheap micro-controller - there was a dearth of entries from state schools.

BBC: Have private schools helped teen app makers to thrive?