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关于controlsuit中的ILPFC1.1版本例程

最近一直在研究这个例程,原理都明白的,不过看到例程在设置PID或者离散化Z参数后并没有用到这些参数,而且PWM输出的接口函数,只是在初始化以及赋初始值时用到,这个例程真的可以独自运行吗?或者是我漏了那些地方,希望帮我解答一下~