预报误差法参数辨识-松弛的思想，avPEOjX参数粒子图像分割及匹配均为自行编制的子例程，可以动态调节运行环境的参数，本程序的性能已经超过其他算法，pUggusJ条件验证可用，包含位置式PID算法、积分分离式PID。- Prediction Error Method for Parameter Identification- the idea of relaxation, avPEOjX parameter　Particle image segmentation and matching subroutines themselves are prepared, Can dynamically adjust the parameters of the operating environment, This program has exceeded the performance of other algorithms, pUggusJ condition　Verification is available, It contains positional PID algorithm, integral separate PID.