IMC-PID是利用内模控制原理来对PID参数进行计算，使用大量的有限元法求解偏微分方程，包括随机梯度算法，相对梯度算法。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Using a large number of finite element method to solve partial differential equations, Including stochastic gradient algorithm, the relative gradient algorithm.