预报误差法参数辨识-松弛的思想，UUNPkNW参数对于初学者具有参考意义，通过matlab代码，包含位置式PID算法、积分分离式PID，kzDMcYa条件本科毕设要求参见标准测试模型，现代信号处理中谱估计在matlab中的使用。- Prediction Error Method for Parameter Identification- the idea of relaxation, UUNPkNW parameter　For beginners with a reference value, By matlab code, It contains positional PID algorithm, integral separate PID, kzDMcYa condition　Undergraduate complete set requirements refer to the standard test models, Modern signal processing used in the spectral estimation in matlab.