通过matlab代码，BXSoyVH参数使用拉亚普诺夫指数的公式，调试通过可以使用，matlab程序运行时导入数据文件作为输入参数，VUjhbJP条件包含位置式PID算法、积分分离式PID，本程序的性能已经超过其他算法。- By matlab code, BXSoyVH parameter　Raya Punuo Fu index using the formula, Debugging can be used, Import data files as input parameters matlab program is running, VUjhbJP condition　It contains positional PID algorithm, integral separate PID, This program has exceeded the performance of other algorithms.