用MATLAB实现动态聚类或迭代自组织数据分析，最终的权值矩阵就是滤波器的系数，IMC-PID是利用内模控制原理来对PID参数进行计算。- Using MATLAB dynamic clustering or iterative self-organizing data analysis, The final weight matrix is ??the filter coefficient, The IMC- PID is using the internal model control principle for PID parameters is calculated.