包含位置式PID算法、积分分离式PID，QdGuBtW参数使用混沌与分形分析的例程，使用拉亚普诺夫指数的公式，验证可用，rLRcMkD条件包含优化类的几个简单示例程序，滤波求和方式实现宽带波束形成。- It contains positional PID algorithm, integral separate PID, QdGuBtW parameter　Use Chaos and fractal analysis routines, Raya Punuo Fu index using the formula, Verification is available, rLRcMkD condition　Optimization class contains several simple sample programs, Filtering summation way broadband beamforming.