经典的灰度共生矩阵纹理计算方法，IMC-PID是利用内模控制原理来对PID参数进行计算，非归零型差分相位调制信号建模与仿真分析 。- Classic GLCM texture calculation method, The IMC- PID is using the internal model control principle for PID parameters is calculated, NRZ type differential phase modulation signal modeling and simulation analysis.