wolf 方法计算李雅普诺夫指数,复化三点Gauss-lengend公式求pi，IMC-PID是利用内模控制原理来对PID参数进行计算。- wolf calculated Lyapunov exponent, Complex of three-point Gauss-lengend the Formula pi, The IMC- PID is using the internal model control principle for PID parameters is calculated.