使用拉亚普诺夫指数的公式，脉冲响应的相关分析算法并检验，IMC-PID是利用内模控制原理来对PID参数进行计算。- Raya Punuo Fu index using the formula, Related impulse response analysis algorithm and inspection, The IMC- PID is using the internal model control principle for PID parameters is calculated.