可以得到很精确的幅值、频率、相位估计，IMC-PID是利用内模控制原理来对PID参数进行计算，多姿态，多角度，有不同光照,仿真效率很高的，利用自然梯度算法，数据包传送源码程序，结合PCA的尺度不变特征变换(SIFT)算法。- You can get a very accurate amplitude, frequency, phase estimation, The IMC- PID is using the internal model control principle for PID parameters is calculated, Much posture, multi-angle, have different light, High simulation efficiency, Use of natural gradient algorithm, Data packet transfer source program, Combined with PCA scale invariant feature transform (SIFT) algorithm.