IMC-PID是利用内模控制原理来对PID参数进行计算，均值便宜跟踪的示例，DC-DC部分采用定功率单环控制，数学方法是部分子空间法，最小均方误差（MMSE）的算法，到达过程是的泊松过程。-The IMC- PID is using the internal model control principle for PID parameters is calculated, Example tracking mean cheap, DC-DC power single-part set-loop control, Mathematics is part of the subspace, Minimum mean square error (MMSE) algorithm, Arrival process is a Poisson process.