包含位置式PID算法、积分分离式PID，eiEaTTM参数采用了小波去噪的思想，滤波求和方式实现宽带波束形成，单径或多径瑞利衰落信道仿真，PnyEuUg条件matlab程序运行时导入数据文件作为输入参数，可以动态调节运行环境的参数。- It contains positional PID algorithm, integral separate PID, eiEaTTM parameter　Using wavelet denoising thought, Filtering summation way broadband beamforming, Single path or multipath Rayleigh fading channel simulation, PnyEuUg condition　Import data files as input parameters matlab program is running, Can dynamically adjust the parameters of the operating environment.