Moreover, PID controller was used to realize feed-backcontrol, which could overcome the limits of direct inverse control in performance and robustness.
同时，由PID控制器构成反馈控制，克服直接逆控制鲁棒性不强的缺陷。
2
By the feed-backcontrol of the duty ratio according to the oscillations of the movable plate, the movable plate can be controlled to oscillate in the proper phase and at the proper oscillation Angle.
通过根据可移动板的振动对占空比的反馈控制，可控制可移动板以在适当的相位和适当的振动角振动。
3
The error between the actual position and the theoretic position will be gotten and feedback the control computer.