Combine blur control with general PID control, on line self-adjusting PID parameters according to different error and error variety-rate, which is called PID parameters self-tuning blur controller.
The results show that this selfadjusting fuzzy control method has better control performance than the general fuzzy control and PID control.
实验结果表明，对比常规模糊控制和PID控制，该自调整模糊控制方法具有更好的控制性能。
3
In this method the self-adjusting integrator is adopted together with basic fuzzy control, according to the fuzzy control rule and practical experience.