说明：  比例，积分，微分的线性组合，构成控制量u(t)，称为：比例(Proportional)、积分(Integrating)、微分(Differentiation)控制，简称PID控制
(Proportional, integral, differential linear combination of the form, the control signal u (t), called: proportion (that), integral (hype), differential (Differentiation) control, the abbreviation PID control)