文章根据常规pid控制器鲁棒性差、控制精度不高的特点，提出一种基于重复误差补偿控制的非线性、高精度PID控制器。

Against at weak robust and low precision of standard PID, a nonlinear and high precision PID based on repeatable error compensation is put forward in this paper.

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重复数次之后仍然存在误差。

After several repetitions there still remains an error.

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这可让OPERA进行重复测量，以消除可能的系统误差。

This will allow Opera to repeat the measurement, removing some of the possible systematics.

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