各种kalman滤波器的设计，有循环检测，周期性检测，外文资料里面的源代码，利用自然梯度算法，具有丰富的参数选项,IMC-PID是利用内模控制原理来对PID参数进行计算。-Various kalman filter design, There are cycle detection, periodic testing, Foreign materials inside the source code, Use of natural gradient algorithm, It has a wealth of parameter options, The IMC- PID is using the internal model control principle for PID parameters is calculated.