Text tour201Frequency(rad/s)Figure5.8Bodemagnitudeplotofexerivative(dashed)andfilteredderivative (solid)，长句解析1（p122倒数第二行）BecausetD+Owas largelyseenasanecessary evil,i.e.,as anecessarydeparture from a pure proportional, integral, and derivative action, almostall industrial PID controllers once set TD as a fixed fraction of TD, ratherthan viewing it as an independent design parameter in its own right, Sincethen it has become clear,however,thatthetime constant ofthe derivativeis an important degree of freedom available to the designer
• 长句解析1（p122倒数第二行） • Because τD ≠ 0 was largely seen as a necessary evil, i.e., as a necessary departure from a pure proportional, integral, and derivative action, almost all industrial PID controllers once set τD as a fixed fraction of TD, rather than viewing it as an independent design parameter in its own right, Since then it has become clear, however, that the time constant of the derivative is an important degree of freedom available to the designer. Text tour
Text tour·note[11VHDL语言是一种用于电路设计的高级语言。它在20世纪80年代的后期出现。最初是由美国国防部开发出来供美军用来提高设计的可靠性和缩减开发周期的一种使用范围较小的设计语言。VHDL和Verilog作为IEEE的工业标准硬件描述语言，得到众多EDA公司支持，在电子工程领域，已成为事实上的通用硬件描述语言
Text tour • note[1] VHDL语言是一种用于电路设计的高级语言。它在20世纪80年代的 后期出现。最初是由美国国防部开发出来供美军用来提高设计的可靠性和 缩减开发周期的一种使用范围较小的设计语言。VHDL和Verilog作为IEEE 的工业标准硬件描述语言，得到众多EDA公 司支持，在电子工程领域，已 成为事实上的通用硬件描述语言
Text tour·长句解析2（p128倒数第八行）:Although alternative approaches such as genetic algorithms andneural networks can perform just as well as fuzzy logic in manycases, fuzzy logic has the advantage that the solution to theproblem can be cast in terms that human operators canunderstand,so that their experience can be used in the design ofthe controller
• 长句解析2（p128倒数第八行） • Although alternative approaches such as genetic algorithms and neural networks can perform just as well as fuzzy logic in many cases, fuzzy logic has the advantage that the solution to the problem can be cast in terms that human operators can understand,so that their experience can be used in the design of the controller. Text tour
Text tour·note[2]FPGA的开发相对于传统PC、单片机的开发有很大不同。FPGA以并行运算为主，以硬件描述语言来实现。以硬件描述语言（Verilog或VHDL所完成的电路设计，可以经过简单的综合与布局，快速地烧录至FPGA上进行测试，是现代IC设计验证的技术主流
• note[2] FPGA的开发相对于传统PC、单片机的开发有很大不同。FPGA以 并行运算为主，以硬件描述语言来实现。以硬件描述语言（Verilog或VHDL） 所完成的电路设计，可以经过简单的综合与布局，快速地烧录至FPGA上进 行测试，是现代IC设计验证的技术主流。 Text tour
Text tour·长句解析3：P133倒数第二段倒数第二句: Unlike the conventional approaches to fuzzy tuning, a NN-basedfuzzy tuning method has a coupling effect on the input attributes,i.e.,if two ormore performance attributes are out of specificationat one time, all of them will be taken into consideration ingenerating the output action attributes
• 长句解析3：P133倒数第二段倒数第二句 • Unlike the conventional approaches to fuzzy tuning, a NN-based fuzzy tuning method has a coupling effect on the input attributes, i.e., if two or more performance attributes are out of specification at one time, all of them will be taken into consideration in generating the output action attributes. Text tour