(1) Qhov zoo: Nws muaj qhov zoo thiab meej tswj kev ceev, tuaj yeem ua tiav kev tswj hwm hauv qhov nrawm, yuav luag tsis muaj oscillation, kev ua haujlwm siab, thiab tsis yooj yim los ua kom sov. Nws kuj muaj cov yam ntxwv ntawm kev ua haujlwm ruaj khov, kev tswj tau zoo, cov lus teb ceev ceev, siab rhiab heev, thiab nruj nonlinearity ntsuas ntawm cov neeg kho tshuab thiab tswj cov yam ntxwv. Nyob rau hauv qhov ntsuas qhov chaw ua haujlwm, nws tuaj yeem ua tiav qhov torque, tsis tshua muaj zog, tsis muaj suab nrov, tsis muaj txhuam, thiab kev saib xyuas dawb (tsim rau qhov chaw tsis muaj plua plav thiab tawg).
(2) Qhov tsis zoo: Kev tswj xyuas yog qhov nyuaj dua, thiab cov tsav tsheb tsis zoo yuav tsum tau hloov kho ntawm qhov chaw los txiav txim siab PID tsis, yuav tsum tau txuas ntxiv.
