控制中的基于模型的控制算法和基于误差的算法（比如 Pid，都说不需要模型）到底是怎么回事？知乎 Sketch Coloring Page

控制中的基于模型的控制算法和基于误差的算法（比如 Pid，都说不需要模型）到底是怎么回事？知乎 Template

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