在matlab R2009b调试通过，IMC-PID是利用内模控制原理来对PID参数进行计算，有均匀线阵的CRB曲线，包含收发两个客户端的链路级通信程序,DC-DC部分采用定功率单环控制，使用拉亚普诺夫指数的公式。-In matlab R2009b debugging through, The IMC- PID is using the internal model control principle for PID parameters is calculated, There ULA CRB curve, Contains two clients receive link-level communications program, DC-DC power single-part set-loop control, Raya Punuo Fu index using the formula.