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，对于初学matlab的同学会有帮助，信号处理中的旋转不变子空间法，大学数值分析算法，基于欧几里得距离的聚类分析。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Add noise processing, Matlab for beginner students will help, Signal Processing ESPRIT method, University of numerical analysis algorithms, Clustering analysis based on Euclidean distance.