采用偏最小二乘法，最终的权值矩阵就是滤波器的系数，滤波求和方式实现宽带波束形成，添加噪声处理，有详细的注释，isodata 迭代自组织的数据分析，IMC-PID是利用内模控制原理来对PID参数进行计算，正确率可以达到98％。

- Partial least squares method, The final weight matrix is ??the filter coefficient, Filtering summation way broadband beamforming, Add noise processing, There are detailed notes, Isodata iterative self-organizing data analysis, The IMC- PID is using the internal model control principle for PID parameters is calculated, Accuracy can reach 98 .