供做算法研究人员参考，IMC-PID是利用内模控制原理来对PID参数进行计算，自己编的5种调制信号，采用了小波去噪的思想，包括 MUSIC算法，ESPRIT算法 ROOT-MUSIC算法，从先验概率中采样，计算权重，多元数据分析的主分量分析投影，包括主成分分析、因子分析、贝叶斯分析。

- Algorithm for researchers to do reference, The IMC- PID is using the internal model control principle for PID parameters is calculated, Own five modulation signal, Using wavelet denoising thought, Including the MUSIC algorithm, ESPRIT algorithm ROOT-MUSIC algorithm, Sampling　a priori probability, calculate the weight, Principal component analysis of multivariate data analysis projection, Including principal component analysis, factor analysis, Bayesian analysis.