PID（比例-积分-微分）控制器作为最早实用化的控制器已有50多年历史，现在仍然是应用最广泛的工业控制器。PID控制器简单易懂，使用中不需精确的系统模型等先决条件，因而成为应用最为广泛的控制器。 -PID (proportional- integral- derivative) controller as the first practical use of the controller has 50 years of history, is still the most widely used industrial controller. PID controller is easy to understand, the use of accurate system models without preconditions, thus to become the most widely used controller.