this code of Particle Swarm Optimization algorithm

PSO-based Optimum Design of PID Controller for Mobile Robot Trajectory Tracking

粒子群PID参数自整定算法，简单易行，能够使用。-Particle swarm PID parameter auto-tuning algorithm, simple and can be used.

IMC-PID是利用内模控制原理来对PID参数进行计算，基于K均值的PSO聚类算法,对于初学者具有参考意义。- The IMC- PID is using the internal model control principle for PID parameters is calculated, K-means clustering algorithm based on the PSO, For beginners with a reference value.