说明：  本程序能实现专家PID控制。专家控制的实质是基于受控对象和控制规律的各种知识，并以智能的方式利用这些知识来设计控制器。
(the procedures to achieve expert PID control. Experts control of the controlled substance is based on the object and control the various law knowledge, and the intelligent use of this knowledge to design controller.)