基于互功率谱的时延估计，IMC-PID是利用内模控制原理来对PID参数进行计算，大学数值分析算法，对于初学者具有参考意义，一种流形学习算法（很好用），插值与拟合，解方程，数据分析，是小学期课程设计的题目，有较好的参考价值。- Based on the time delay estimation of power spectrum, The IMC- PID is using the internal model control principle for PID parameters is calculated, University of numerical analysis algorithms, For beginners with a reference value, A fluid manifold learning algorithm (good use), Interpolation and fitting, solution of equations, data analysis, Is the topic of the elementary school stage curriculum design, There are good reference value.