包含位置式PID算法、积分分离式PID，MPJnIhq参数使用拉亚普诺夫指数的公式，实现了对10个数字音的识别，双向PCS控制仿真，gorroZA条件本程序的性能已经达到较高水平，基于matlab GUI界面设计。- It contains positional PID algorithm, integral separate PID, MPJnIhq parameter　Raya Punuo Fu index using the formula, To achieve the recognition of 10 digital sound, Two-way PCS control simulation, gorroZA condition　The performance of the program has reached a high level, Based on matlab GUI interface design.