已调制信号计算其普相关密度，包括邓氏关联度、绝对关联度、斜率关联度、改进绝对关联度,IMC-PID是利用内模控制原理来对PID参数进行计算。- Modulated signals to calculate its density Pu-related, Including Deng s correlation, absolute correlation, correlation of slope, improved absolute correlation, The IMC- PID is using the internal model control principle for PID parameters is calculated.