说明：  比较专业的PID控制器，主要实现了以下几种常用的理论：Ziegler&Nichols、Cohen Coon、Reglabilite、IMC、Optimiszation、De Crite、PID1、PID2
(Comparison of professional PID controller, the main achievement of the following types of theories commonly used: Ziegler & Nichols, Cohen Coon, Reglabilite, IMC, Optimiszation, De Crite, PID1, PID2)