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综合考虑脉宽调制式气动伺服系统的性能要求、控制器的简单性和单片机实现的可能性等因素，提出了一种结构控制方法，即依据偏差的大小，分别采用Ｂａｎｇ－Ｂａｎｇ控制、非线性ＰＩＤ控制和非线性微分反馈控制，该方法可由单片机实现。
Considering the performance requirements of pulse-width modulated pneumatic servo system, the simplicity of controller and the possibility of SCM implementation, a method of structure control is proposed. According to the deviation, Bang-Bang control, nonlinearity PID control and nonlinear differential feedback control, the method can be achieved by the microcontroller.