电镀的

Its inputs are error e and error change ec and adust its PED parameters kp , kt, kd online with fuzzy induce method based on the normal PIDcontroller. It can fulfill the command of different e and ec for PID parameters, which gives the controlled object a better static and dynamic performance.

它是在常规PID控制器的基础上，以误差e和误差变化率c作为输入，采用模糊推理方法对PID参数K_p、K_i、K_d进行在线自整定，以满足不同e和c对控制器参数要求，而使被控对象具有良好的动、静态性能。