该段程序实现的是模糊PID控制。讲模糊控制技术和PID控制结合起来，不仅满足线性系统的需求，更适合于非线性系统。-This section of the program to achieve fuzzy PID control. Stresses combine fuzzy control and PID control, not only meet the demand of the linear system, more suitable for non-linear systems.