IMC-PID是利用内模控制原理来对PID参数进行计算，FIR 底通和带通滤波器和IIR 底通和带通滤波器，信号处理中的旋转不变子空间法。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Bottom-pass and band-pass FIR and IIR filter bottom pass and band-pass filter, Signal Processing ESPRIT method.