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几种PID控制器参数整定方法的比较研究
临界比例度，衰减曲线法，鲁棒PID整定，ISTE最优参数整定法的比较
Self_Tuning PID Controller Using Newton_Raphson Search Method
A new algorithm for self tuning of proportionalintegral- derivative (PID) controllers is proposed. A combined least-squares estimation and Newton–Raph