粒子图像分割及匹配均为自行编制的子例程，IMC-PID是利用内模控制原理来对PID参数进行计算，连续相位调制信号(CPM)产生。- Particle image segmentation and matching subroutines themselves are prepared, The IMC- PID is using the internal model control principle for PID parameters is calculated, Continuous phase modulation signal (CPM) to produce.