包含位置式PID算法、积分分离式PID，基于分段非线性权重值的Pso算法，添加噪声处理，使用拉亚普诺夫指数的公式，包括最小二乘法、SVM、神经网络、1_k近邻法。- It contains positional PID algorithm, integral separate PID, Based on piecewise nonlinear weight value Pso algorithm, Add noise processing, Raya Punuo Fu index using the formula, Including the least squares method, the SVM, neural networks, 1 _k neighbor method.