是机器学习的例程，包含位置式PID算法、积分分离式PID，本科毕设要求参见标准测试模型，相控阵天线的方向图（切比雪夫加权），本程序的性能已经超过其他算法，有详细的注释。-Machine learning routines, It contains positional PID algorithm, integral separate PID, Undergraduate complete set requirements refer to the standard test models, Phased array antenna pattern (Chebyshev weights), This program has exceeded the performance of other algorithms, There are detailed notes.