欢迎大家下载学习，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，实现了对10个数字音的识别程序应用小区域方差对比，程序简单，预报误差法参数辨识-松弛的思想。- Welcome to download the study, The IMC- PID is using the internal model control principle for PID parameters is calculated, There ULA CRB curve, Realization of 10 digital audio recognition program Application of small area variance comparison, simple procedures, Prediction Error Method for Parameter Identification- the idea of relaxation.