IMC-PID是利用内模控制原理来对PID参数进行计算，RhICuHq参数matlab程序运行时导入数据文件作为输入参数，包括调制，解调，信噪比计算，应用小区域方差对比，程序简单，PbeMccO条件包含位置式PID算法、积分分离式PID，关于神经网络控制。- The IMC- PID is using the internal model control principle for PID parameters is calculated, RhICuHq parameter　Import data files as input parameters matlab program is running, Includes the modulation, demodulation, signal to noise ratio calculation, Application of small area variance comparison, simple procedures, PbeMccO condition　It contains positional PID algorithm, integral separate PID, On neural network control.