用稳定边界法整定公式来求P,PI,PID的个参数，其中G是已知被校正系统的开环传递函数,kp为比例系数， Ti为积分时间常数，Td为微分时间常数，输入参量Gc为校正器传递函数，p为系统开环极点的个数（不计重根个数，即多重根只计一个根）-With the Stable Boundary tuning formula seeking P, PI, PID' s parameters, of which G is known to be corrected and the system of open-loop transfer function, kp is proportional coefficient, Ti the integral time constant, Td for the differential time constant, input parameters Gc for the corrector transfer function, p is the number of poles of open-loop system (excluding the number of multiple roots, that is a multiple root only to the root)