IMC-PID是利用内模控制原理来对PID参数进行计算，课程设计时编写的matlab程序代码，music高阶谱分析算法，本程序的性能已经达到较高水平，考虑雨衰 阴影 和多径影响。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Course designed to prepare the matlab program code, music higher order spectral analysis algorithm, The performance of the program has reached a high level, Consider shadow rain attenuation and multipath effect.