Under this condition, a new decoupling PID control strategy is proposed, which appended decoupling compensator in the PID loop.

该方案在PID回路中加入解耦补偿器，以实现对多变量的解耦控制。

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Closed loop feedback adopts PID control rule to insure the stabilization of magnification times.

闭环反馈采用PID这种最广泛使用的控制规律，以保证放大倍数的稳定。

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Keeping the zeros and poles of the PID unchanged, an adaptive PID controller is presented using the proposed recursive algorithm in the closed-loop system.

在确保PID零极点不变的基础上，将开环递推整定算法引入到闭环系统中，提出了自适应pid控制算法。

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