主要是基于mtlab的程序，这个有中文注释，看得明白，包含位置式PID算法、积分分离式PID，到达过程是的泊松过程，是信号处理的基础，采用了小波去噪的思想。-Mainly based on the mtlab procedures, The Chinese have a comment, understand it, It contains positional PID algorithm, integral separate PID, Arrival process is a Poisson