【導(dǎo)讀】此種控制方式首次應(yīng)用于模糊PID控制。器，它包括一個線性PID控制器和非線性補償部分。非線性補償部分可視為一個干擾過程，模糊PID. 模糊PID控制系統(tǒng)利用李亞譜諾夫穩(wěn)定性理論進行穩(wěn)。仿真結(jié)果表明利用內(nèi)?？刂普：齈ID控制參數(shù)是有效的。一般而言，傳統(tǒng)的PID控制器對于十分復(fù)雜的被控對象控制效果不太理想,如高階時滯系統(tǒng)。一般情況下，沒有統(tǒng)一的標準。派生信息,三輸入模糊PID控制器會產(chǎn)生按指數(shù)增長的規(guī)則。器有一個適當(dāng)?shù)慕Y(jié)構(gòu)并且實用性強，因此在各種研究和應(yīng)用中,是最流行的模糊PID類型。原因之一是模糊PID參數(shù)整定的基本理論分析方法至今仍不明確。在較低層次上，該整定是由調(diào)整增益獲得線性控制性能。雖然非線性被認為是在增益裕度和相位裕。度基礎(chǔ)上獲得的，但是由于非線性因素，模糊PID控制器可能會產(chǎn)生比常規(guī)PID控制器較高的增益。

　　

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It will pass through Gansu province and Xinjiang Uygur autonomous region, and finally arrive in Almaty, formerly known as AlmaAta, the largest city in Kazakhstan, and Dungan in Zhambyl province. The trip will cover about 15,000 kilometers and take the caravan more than one year to plete. The caravan is expected to return to Jingyang in March 2020. Then they will e back, carrying specialty products from Kazakhstan A small art troupe founded six decades ago has grown into a household name in the Inner Mongolia autonomous region. In the 1950s, Ulan Muqir Art Troupe was created by nine young musicians, who toured remote villages on horses and performed traditional Mongolian music and dances for nomadic families. The 54yearold was born in Tongliao, in eastern Inner Mongolia and joined the troupe in says there are 74 branch troupes across Inner Mongolia and actors give around 100 shows every year to local nomadic people. I can still recall the days when I toured with the troupe in the early 39。80s. We sat on the back of pickup trucks for hours. The sky was blue, and we couldn39。t help but sing the folk songs, Nasun says. The vastness of Inner Mongolia and the lack of entertainment options for people living there, made their lives lonely. The nomadic people were very excited about our visits, Nasun recalls. We didn39。t have a formal stage. The audience just sat on the grass. Usually, the performances became a big party with local people joining in. For him, the rewarding part about touring isn39。t just about sharing art with nomadic families but also about gaining inspiration for the music and dance. Ulan Muqir literally translates as red burgeon, and today39。s performers of the troupe still tour the region39。s villages and entertain nomadic families, but their fame has spread around the world. On May 16 and 17, nearly 100 singers and dancers from the troupe performed at Beijing39。s Poly Theater. Their show, titled Ulan Muqir on the Grassland, depicted the history and development of the art troupe. Being from the region allowed me to embrace the culture of Inner Mongolia and being a member of the troupe showed me where I belonged, Nasun, the art troupe39。s president, who is also a renowned tenor, tells China Daily. During a tour in 1985, he went to a village and met an elderly local man, who told him a story about his friendship with a solider from Shenyang, capital of Northeast China39。s Liaoning province, decades ago. The solider gave the old man a handmade saddle when they bid farewell. The story inspired Nasun to write Carved Saddle, a song that later became one of his most popular numbers. Now, every year, Nasun recruits young singers and dancers for the troupe. The troupe has also designed a new repertoire, which is mostly based on the daily lives of Mongolian people, especially the lives of nomadic families, and has bined contemporary musical elements with folk songs of the region. Haimu, a 25yearold kho