最终的权值矩阵就是滤波器的系数，IMC-PID是利用内模控制原理来对PID参数进行计算，基于分段非线性权重值的Pso算法。- The final weight matrix is ??the filter coefficient, The IMC- PID is using the internal model control principle for PID parameters is calculated, Based on piecewise nonlinear weight value Pso algorithm.