上电5秒内，学习喷油执行的关闭位置与最大位置，学习过程通过PID控制，学习后进入常规工况，加入了电源电压对喷油执行器的影响的修正MAP，采取PWM驱动控制。-Power on 5 seconds, oil injection executive closed position and maximum position self learning, learning process through the PID control, learning to conventional conditio

对PID的学习从入门到精通吃透，有助于初学者快速学习掌握-For PID learning from entry to master fully digested, to help beginners learn to master

Code for iterative learning control alongwith PID control