http://wenku.baidu.com/link?url=5hr6sYBoVNMgwIA9X9S8Jmn-XU38ODw4-1c-1OtUVFLuAbF2miurhDBuLHYWn4k1DcMpcqO2-BwPFGsufkQElQHt6wrg6W-Xjeqqi04n98q
PID调节器
http://wenku.baidu.com/link?url=5hr6sYBoVNMgwIA9X9S8Jmn-XU38ODw4-1c-1OtUVFLuAbF2miurhDBuLHYWn4k1DcMpcqO2-BwPFGsufkQElQHt6wrg6W-Xjeqqi04n98q
PID调节器