帮忙 翻译 一下 谢谢了 （请不要机器翻译）

The PID
controller tuning parameters are then computed by solving
(off-line) an optimization problem that minimizes some
measure of the difference between the control action and
closed.loop process response under the nonlinear controller
on one hand, and those obtained under the PID controller on
the other, for a given initial condition and set-point change.
The optimization is carried out subject to constraints that
ensure that the PID tuning parameters are within acceptable
ranges of the values derived from the classical tuning rules.
This idea is described algorithmically below:

的PID
控制器整定计算参数，然后通过求解
（离线）的优化问题，尽量减少一些
措施之间的控制作用和差异
closed.loop下的非线性控制器的过程响应
一方面，根据PID控制器上，对那些
另一方面，对于一个给定的初始条件和设定点的变化。
在进行了优化受到制约
确保PID调整参数在可接受
范围从传统的规则调整所带来的价值。
这种想法是算法上介绍如下：

PID解决然后计算controller调整的参量 (离线)使一些减到最小的优化问题区别的measure在控制活动和之间的在非线性控制器之下的closed.loop处理反应一方面和那些获得在的PID控制器之下the其他，特定最初