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ed against sending it back to form any closed loops.2, closed loop control systemClosed loop control system (closedloop control system) is characterized by the system control object output (controlled variables) will affect the controller against the output sent back to form one or more closed loop. Closedloop control system has positive feedback and negative feedback, if the feedback signal and system for a given value of signal contrast, is known as negative feedback (Negative Feedback), if the same polarity is called positive feedback, the general closedloop negative feedback control systems are used , also known as negative feedback control system. Many examples of closed loop control system. Such person is a negative feedback loop control system, the eye is the sensor, as feedback, the human system through constant correction to all the right moves last. If there are no eyes, no feedback loop, will bee an openloop control system. Other cases, when a truly automatic washing machines have to continuously check whether clothes washed, and cut off the power automatically after cleaning, it is a closed loop control system.3, step response Step response is a step input (step function) added to the system, the system outputs. Steadystate error is the response of the system into steady state, the system39。s expected output and actual output of the difference. Control system performance can be stable, accurate, fast and three words to describe. Stability is the stability of the system (stability), a system to work properly, first of all must be stable, from the step response appears to be that convergence。 quasicontrol system refers to the accuracy, control precision, usually stable state error to (Steadystate error) description, it said the system output and the expected steadystate value of the difference。 faster control system response is fast, usually the rise time to quantify.4, PID control principles and characteristicsIn engineering practice, the most widely used regulator control law is proportional, integral, differential control, referred to as PID control, also known as PID regulator. PID controller has been developed for nearly 70 years, it is its simple structure, stable, reliable, easy to adjust and bee one of the main techniques of industrial control. When the structure and parameters of the object and can not fully grasp, or lack of acc