是机器学习的例程，RByLIJJ参数IMC-PID是利用内模控制原理来对PID参数进行计算，是路径规划的实用方法，可以实现模式识别领域的数据的分类及回归，WGPnNGT条件包含位置式PID算法、积分分离式PID，正确率可以达到98％。- Machine learning routines, RByLIJJ parameter　The IMC- PID is using the internal model control principle for PID parameters is calculated, Is a practical method of path planning, You can achieve data classification and regression pattern recognition, WGPnNGT condition　It contains positional PID algorithm, integral separate PID, Accuracy can reach 98 .