FMCW调频连续波雷达的测距测角，IMC-PID是利用内模控制原理来对PID参数进行计算，使用高阶累积量对MPSK信号进行调制识别。- FMCW frequency modulated continuous wave radar range and angular measurements, The IMC- PID is using the internal model control principle for PID parameters is calculated, Using high-order cumulants of MPSK signal modulation recognition.