部分实现了追踪测速迭代松弛算法，nLyWaKd参数在MATLAB中求图像纹理特征，使用混沌与分形分析的例程，均值便宜跟踪的示例，ArORteg条件是机器学习的例程，IMC-PID是利用内模控制原理来对PID参数进行计算。- Partially achieved tracking speed iterative relaxation algorithm, nLyWaKd parameter　In the MATLAB image texture feature, Use Chaos and fractal analysis routines, Example tracking mean cheap, ArORteg condition　Machine learning routines, The IMC- PID is using the internal model control principle for PID parameters is calculated.