“…In [7], the PID control parameters were adjusted online by using the fuzzy logic method, which improved the tracking control precision of the rolling mill speed system effectively, but this control method has an obvious deficiency, that is, the online adjustment time is relatively long. In [9], a compound control method was proposed based on the invariance principle, however, this controller design method needs a repeat differential on the virtual control command in the derivation process, which makes increases the complexity of the controller to a large degree, due to the increase of system relative order; that is, the "differential explosion" phenomenon becomes apparent. In [9], a compound control method was proposed based on the invariance principle, however, this controller design method needs a repeat differential on the virtual control command in the derivation process, which makes increases the complexity of the controller to a large degree, due to the increase of system relative order; that is, the "differential explosion" phenomenon becomes apparent.…”