这是一种不同于常规pid控制规律的新型算法，既大林算法，这种算法的最大特点是将期望的闭环相应设计成一阶惯性加纯延迟，然后反过来得到能满足这种闭环相应的控制器。-This is a conventional pid control law is different from the new algorithm, both peninsulae algorithm is characterized by the largest closed-loop corresponding to the desired design into the first-order plus pure delay inertia, and then in turn be able to meet such a closed-loop control of the corresponding browser.