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48 2 Vol. 48 No. 2 2016 3 Chinese Journal of Theoretical and Applied Mechanics Mar.2016 PID 1) 2) (050043) (PID) . . -- -- . . . -- -- -- -- . O322, TP273 A doi 101879-15-332 PRIMARY RESONANCE OF DUFFING OSCILLATOR WITH FRACTIONAL-ORDER PID CONTROLLER BASED ON VELOCITY FEEDBACK 1)