IMC-PID是利用内模控制原理来对PID参数进行计算，对于初学matlab的同学会有帮助，内含心电信号数据及运用MATLAB写的源代码。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Matlab for beginner students will help, ECG data and includes source code written in MATLAB.