PID控制算法

https://blog.csdn.net/qq_25352981/article/details/81007075
https://blog.csdn.net/liangbin414/article/details/88596320
https://wenku.baidu.com/view/cbf919827e21af45b207a8ad.html
https://wenku.baidu.com/view/b511a53084254b35effd3404.html

//pid参数调节
https://zhidao.baidu.com/question/160575294.html

http://www.elecfans.com/d/817428.html

https://wenku.baidu.com/view/6068a6875acfa1c7ab00cc1a.html