摘要
最少拍控制器对输入响应快，但是有静差存在。ＰＩＤ控制器适应性强，但是响应比较慢。我们可以设计一种新的控制器同时具有两者的优点。本文研究了这种控制器的设计方法。
The response of minimum tempo controller to input is fast, but it has a steady state error. PID controller is adaptable, but its response to input is relatively slow. We can design a new kind of controller which has the advantage of both minimum tempo controller and PID controller. The design method of this kind of controller is researched in this paper.
