说明：  有传统PID介绍，引申到改进算法，包括模糊控制，滑模控制等，配有大量实例，除利用simulink搭建外同时由c或matlab语言对照。
(Traditional PID introduced extended to improve the algorithm, including fuzzy control, sliding mode control, Peiyoudaliang instance, in addition to the use of structures outside simulink matlab language by both c or control.)