According to the different stages of system output, HSIC with NPID is presentedby applying nonlinear proportional, integral and the differential part, and then eachpart is analyzed.

• 根据系统输出的不同阶段，将非线性比例环节、积分环节和微分环节引入到仿人智能控制中来，提出了一种非线性PID仿人智能控制算法，并对各个环节进行了论述。