IMC-PID是利用内模控制原理来对PID参数进行计算，分析了该信号的时域、频域、倒谱，循环谱等,借鉴了主成分分析算法（PCA）。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Analysis of the signal time domain, frequency domain, cepstrum, cyclic spectrum, etc. It draws on principal component analysis algorithm (PCA).