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从计算机应用的角度对经典ＰＩＤ控制算法做了细致剖析与变形处理，着重对偏差与偏差变化率进行二维思考，提出了智能多模态ＰＩＤ控制算法．改进的算法简单、实用，尤其对大滞后与大时间常数的系统，可显著改善动、静态特性．
From the perspective of computer application, the classical PID control algorithm is analyzed and distorted in detail. The two-dimensional thinking on deviation and deviation change rate is put forward. An intelligent multi-modal PID control algorithm is proposed. The improved algorithm is simple and practical, especially for large lag and large time constant system, which can significantly improve the dynamic and static characteristics.