由输入e表示输出误差，ec表示误差变化率，经过测试具有很好的控制效果，对于非线性系统和数学模型难以建立的系统来说有更好的控制效果！现将其公开供大家学习研究！-E expressed by the input output error, ec that the error rate of change, tested with good control, and mathematical models for nonlinear systems is difficult to establish