ID 控制是最早发展起来的控制策略之一，由于其算法简单、鲁棒性好和可靠性高，被 广泛应用于过程控制和运动控制中，尤其适用于可建立精确数学模型的确定性控制系统。-D control is one of the earliest control strategy developed, due to its simple algorithm, good robustness and high reliability, is Widely used in process control a