【正文】 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 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。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。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。s Zhangye city during their journey to Kazakhstan, May 5, 2020. The caravan, consisting of more than 100 camels, three horsedrawn carriages and four support vehicles, started the trip from Jingyang county in Shaanxi on Sept 19, 2020. 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。 Green, A. W. Fuzzy Variable Structure Control. IEEE Trans. Syst., Man, Cyberics, Part B 1997, 27 (2), 306–312. 15 您好，為你提供優(yōu)秀的畢業(yè)論文參考資料，請您刪除以下內(nèi)容， O(∩ _∩ )O謝謝?。?！ A large group of tea merchants on camels and horses from Northwest China39。 Lee, . TwoStep IMCPID Method for Multiloop Control System Design. Ind. Eng. Chem. Res. 2020, 41, 3037–3041. 14 (18) Li, H. X.。 Gregory, C. Y. Patents, Software, and Hardware for PID Control. IEEE Control Syst. Mag. 2020, 42–54. (17) Cha, S. Y.。 Liu, C. Parallel Structure and Tuning of a Fuzzy PID Controller. Automatica 2020, 36, 673–684. (15) Kaya, I. Obtaining Controller Parameters for a New PIPD Smith Predictor Using Autotuning. J. 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Res. 2020, 40, 3164–3170. (4) Hojjati, H.。 Albert, A.。 approximation in (15). As shown in Figure 6, fuzzy PID control achieves better control performance than conventional PID control. Morever, the gain of the fuzzy 12 PID controller is lower than that of conventional PID controller. Figure 4 Control performance of fuzzy PID Figure 5 Performance of fuzzy PID and PID and PID for example 1, fuzzy PID (solid line), for delay L= , fuzzy PID (solid line), and conventional PID (dotted line). and conventional PID (dotted line) . Example 2. Assume that an industrial process is described by ? ? ? ?8as 1s ??P (16) where a=1, Suppose that there is no modeling error in the process . On the basis of step response and Nyquist curves of the industrial process , the approximation model can be obtained as follows: ? ? ~ 1s ???P (17) As shown in Figure 7, little difference isobserved between the conventional PID control and fuzzy PIDcontrol because the model is , suppose that there is modeling error and the practical value of the parameter a is .. As shown in Figure 8, fuzzy PID control achieves better control performance than conventional PID control. Morever, the gain of the fuzzy PID controller is lower than that of the conventional PID controller, which is shown in Figure 8. Figure 6. Control performance of fuzzy PID Figure 7. Control performance of fuzzy PID and PID and PID for a ) 1. Fuzzy PID (solid line) and for process a = PID conventional PID (dotted line). (solid line) and conventional PID (dotted line) 5 Conclusion An effective tuning method for fuzzy PID controllers based on IMC is presented in this paper. An analytical model is first developed for the tuning of fuzzy PID controllers. The analytical model includes a linear PID control and a nonlinear pensation item. On the basis of the IMC method, the parameters of fuzzy PID controller can be analytically determined by regarding the pe