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.

mcgs实现锅炉的液位控制，使用了pid(MCGS boiler level control, the use of PID)