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第 三 章 程 序 控 制 3-13<br />
G<br />
KP<br />
P<br />
f<br />
20dB/decade<br />
I<br />
f<br />
D<br />
20dB/decade<br />
f<br />
PI<br />
K P +K I<br />
f<br />
PD<br />
K P +K D<br />
f<br />
ID<br />
K I +K D<br />
f<br />
PID<br />
K P +K D +K I<br />
f<br />
圖 3.2.7
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