免疫粒子群算法用于PID整定。采用线性惯性系数，自适应交叉变异方法-Immune Particle Swarm Optimization for PID tuning. Linear inertia coefficient, adaptive crossover mutation method

PSO程序，包含自适应权重粒子群优化算法，学习因子异步变化的粒子群优化算法和二阶振荡粒子群优化算法。-PSO program, including an adaptive weight particle swarm optimization, asynchronous learning factor changes PSO and PSO order Oscillation.