说明：  很好的pid教程资料，包括清晰的推理以及源代码，并且有大量的数据。内容涵盖多种pid算法。举例子说明模糊pid算法。我个人觉得比论文以前某些文章介绍得比较详细，推荐！
(Good PID tutorial material, including clear reasoning and source code, and a lot of data. The content covers a variety of PID algorithms. An example is given to illustrate the fuzzy PID algorithm. Personally, I think it's more detailed than some previous articles in this paper. I recommend it!)