One is traditional PID loop The other is called model-free adaptive control (MFAC) based external loop, which is used to serve as a compensator for system tracking error.

• 该控制器是基于模块化设计思想设计的,它是在传统的PID控制系统外面增加一个无模型控制的外环,用以补偿系统跟踪误差。