匹配追踪和正交匹配追踪，包括随机梯度算法，相对梯度算法，IMC-PID是利用内模控制原理来对PID参数进行计算。- Matching Pursuit and orthogonal matching pursuit, Including stochastic gradient algorithm, the relative gradient algorithm, The IMC- PID is using the internal model control principle for PID parameters is calculated.