最小均方误差（MMSE）的算法，仿真效果非常好，随机调制信号下的模拟ppm，IMC-PID是利用内模控制原理来对PID参数进行计算，添加噪声处理。- Minimum mean square error (MMSE) algorithm, Simulation of the effect is very good, Random ppm modulated analog signal under The IMC- PID is using the internal model control principle for PID parameters is calculated, Add noise processing.