The controller can learn, on line, the control rules of the complex dynamic process with multivariable coupling, nonlinear and uncertainty, so that the PID parameters are tuned automatically.
In addition, when a sketch line is drawn on a specified region of interest, it can create a remarkable feature with the curvature of vertices along the linetuned.
另外，对于特定的感兴趣区域，通过绘制草图线可以对曲线周围各顶点的曲率进行调整，构造显著的模型特征。
3
Simulation and experiment results demonstrated the efficiency of the control method. The controller has a simple structure and its parameters can be tuned on line.