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Control theory is an interdisciplinary branch of engineering and mathematics, which mainly deals with the behavior of the power system with the input signal. The external input of the system is referred to as "reference value", and one or more variables in the system should be changed with the reference value, and the input of the controller processing system, so that the output of the system can be expected.

Control theory general purpose is to use the controller to make the system stable, it is the system to maintain the set value, and will not be in the vicinity of the setting value.

Continuous systems are generally represented by differential equations. If the differential equation is linear constant coefficient, differential equation can be converted to Laplasse, and the relationship between the input and output is expressed by transfer function. If the differential equation is nonlinear, the solution can be found, and the nonlinear equation can be linearized in the vicinity of [1]. If the linear differential equation is constant, the transfer function can be obtained by using Laplasse transformation.