混沌的判断指标Lyapunov指数计算,IMC-PID是利用内模控制原理来对PID参数进行计算，通过反复训练模板能有较高的识别率。- Chaos indicator for Lyapunov index calculation, The IMC- PID is using the internal model control principle for PID parameters is calculated, Through repeated training TXftJbqlate have higher recognition rate.