The contradiction between respond speed of normal pid control system and overshoot is solved by joining a non - liner gain before a liner pid controller with constant gain 通过在一个线性具有固定增益的pid控制器前串联一个非线性增益来对系统进行调节，解决了常规pid控制系统的响应速度和超调量之间的矛盾，最终使系统达到较好的动态性能。
