# 28 F : What is meant by Kce ?
# 29 F: theory is correct, but the practice of error. G1 ( s ) of the output is not limited to the formula, an actual output of the controller can reach +/- 100 %, more unlikely. P and D gain of closed loop transfer function plus some " zero " , it increases bandwidth tracking the trajectory, without contributing to its external interference.
# 30 floor: Here 2 degrees of freedom mean? In the absence of the whole context it is difficult to understand. I know how to use several different methods to optimize the controller gain, but often face practical limitations on the use of physical facilities and equipment.
翻译如下：
＃28楼:请问什么是Kce？
＃29楼：理论是正确的，但做法错误。 G1（s）的输出并不受限于公式，一个控制器的实际输出只能达到+/- 100％，不可能更多。 P和D增益对闭环传递函数加上一些“零”，使其在跟踪轨迹时增加带宽，而又不助长它的外在干扰。
＃30楼：在这里2自由度是什么意思？由于没有整段上下文所以不好理解。我知道如何用几种不同的方法来优化控制器增益，但使用实体设备装置时往往会面临实际限制。
楼里不少实用的东西啊