采用热核构造权重，采用了小波去噪的思想，IMC-PID是利用内模控制原理来对PID参数进行计算，信号处理中的旋转不变子空间法，Relief计算分类权重，包括广义互相关函数GCC时延估计。-Thermonuclear using weighting factors Using wavelet denoising thought, The IMC- PID is using the internal model control principle for PID parameters is calculated, Signal Processing ESPRIT method, Relief computing classification weight, Including the generalized cross-correlation function GCC time delay estimation.