PID控制器
The most common general-purpose controller using a control-loop feedback mechanism is a proportional-integral-derivative (PID) controller. Heuristically, the terms of a PID controller can be interpreted as corresponding to time: the proportional term depends on the "present" error, the integral term on the accumulation of "past" errors, and the derivative term is a prediction of "future" error, based on current rate of change.