IMC-PID是利用内模控制原理来对PID参数进行计算，应用小区域方差对比，程序简单，DSmT证据推理的组合公式计算函数。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Application of small area variance comparison, simple procedures, Combination formula DSmT evidence reasoning calculation function.