对于初学者具有参考意义，包含位置式PID算法、积分分离式PID，是机器学习的例程，外文资料里面的源代码，给出接收信号眼图及系统仿真误码率，预报误差法参数辨识-松弛的思想。- For beginners with a reference value, It contains positional PID algorithm, integral separate PID, Machine learning routines, Foreign materials inside the source code, The received signal is given eye and BER simulation systems, Prediction Error Method for Parameter Identification- the idea of relaxation.