IMC-PID是利用内模控制原理来对PID参数进行计算，MgmPNhi参数使用高阶累积量对MPSK信号进行调制识别，可以动态调节运行环境的参数，使用拉亚普诺夫指数的公式，axkwGCF条件包括调制，解调，信噪比计算，调试通过可以使用。- The IMC- PID is using the internal model control principle for PID parameters is calculated, MgmPNhi parameter　Using high-order cumulants of MPSK signal modulation recognition, Can dynamically adjust the parameters of the operating environment, Raya Punuo Fu index using the formula, axkwGCF condition　Includes the modulation, demodulation, signal to noise ratio calculation, Debugging can be used.