说明：  在过程控制中，按偏差的比例（P）、积分（I）和微分（D）进行控制的PID控制器（亦称PID调节器）是应用最为广泛的一种自动控制器。它具有原理简单，易于实现，适用面广，控制参数相互独立，参数的选定比较简单等优点；而且在理论上可以证明，对于过程控制的典型对象──“一阶滞后+纯滞后”与“二阶滞后+纯滞后”的控制对象，PID控制器是一种最优控制。
(In process control, PID controller (also called PID regulator) which is controlled by proportion (P), integral (I) and differential (d) of deviation is the most widely used automatic controller. It has the advantages of simple principle, easy implementation, wide application, independent control parameters and simple selection of parameters. Moreover, it can be proved in theory that PID controller is an optimal control for typical process control objects - "first order lag + pure lag" and "second order lag + pure lag".)