结合PCA的尺度不变特征变换(SIFT)算法，IMC-PID是利用内模控制原理来对PID参数进行计算，解耦，恢复原信号。- Combined with PCA scale invariant feature transform (SIFT) algorithm, The IMC- PID is using the internal model control principle for PID parameters is calculated, Decoupling, restore the original signal.