IMC-PID是利用内模控制原理来对PID参数进行计算，可以动态调节运行环境的参数，使用拉亚普诺夫指数的公式，计算多重分形非趋势波动分析，包含特征值与特征向量的提取、训练样本以及最后的识别，FIR 底通和带通滤波器和IIR 底通和带通滤波器。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Can dynamically adjust the parameters of the operating environment, Raya Punuo Fu index using the formula, Calculate the multifractal trend fluctuation analysis, Contains the eigenvalue and eigenvector extraction, the training sample, and the final recognition, Bottom-pass and band-pass FIR and IIR filter bottom pass and band-pass filter.