算法优化非常好，几乎没有循环，IMC-PID是利用内模控制原理来对PID参数进行计算，非归零型差分相位调制信号建模与仿真分析 。- Algorithm optimization is very good, almost no circulation, The IMC- PID is using the internal model control principle for PID parameters is calculated, NRZ type differential phase mod