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There are many methods to design self-tuning PID controllers.
设计自校正PID调节器的方法有多种。
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PID controllers are used in processes with long time constants.
PID控制器曾被使用在长流程进程中。
In theory, many AQM mechanisms can be reduced to he PID controllers.
理论上，很多AQM机制可以最终归结为PID控制器。
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