IMC-PID是利用内模控制原理来对PID参数进行计算，采用了小波去噪的思想，包括数据分析、绘图等等,有小波分析的盲信号处理，最大似然（ML）准则和最大后验概率（MAP）准则。-The IMC- PID is using the internal model control principle for PID parameters is calculated, Using wavelet denoising thought, Data analysis, plotting, etc., There Wavelet Analysis Blind Signal Processing, Maximum Likelihood (ML) criteria and maximum a posteriori (MAP) criterion.