该程序设计了一种分数阶tid控制器，能有效弥补常规tid控制器所无法实现的目的，多两个可调参数就多了控制系数，功能更有效，性能更稳定。-The program design of a fractional tid controller can compensate for conventional tid controller can not achieve the purpose, more than two adjustable parameters, the more the control coefficient, more effective and more stable performance.