模糊自整定PIb是在PID算法的基础上，通过计算当前系统误差e和误差变化率ec，利用模糊规则进行模糊推理，查询模糊矩阵表进行参数调整。-Fuzzy self-tuning PID PIb algorithm is based on the systematic error by calculating the rate of change of the current error e and ec, using fuzzy rules fuzzy reasoning, fuzzy matrix