PID control is one of the earliest developed and widely applied control methods in the application field. It is based on the object mathematical model, especially for the deterministic control system that can establish accurate mathematical models. But for non linear and time-varying uncertain systems, it is difficult to use the conventional PID controller to achieve the ideal control effect. Moreover, in actual production, the conventional PID parameters are often unadjusted and poor in performance due to the complicated problem of parameter setting.

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