中文说明：应用背景该方法适用于任意程度的线性和非线性系统。离散系统的方法是Tustin方法或两个线改造方法。该算法是非常简单和用户友好的。关键技术在这个代码中，可以比较2种情况······························设计了离散时间控制器。····································设计了连续时间控制器，并对控制器进行了离散化。
English Description：
Application background the method is suitable for linear and nonlinear systems of any degree. The method of discrete system is Tustin method or two line reconstruction method. The algorithm is very simple and user-friendly. Key technology in this code, we can compare two cases ······································································································. ····································The continuous time controller is designed and discretized.