最小均方误差（MMSE）的算法，采用了小波去噪的思想，IMC-PID是利用内模控制原理来对PID参数进行计算，有详细的注释，有均匀线阵的CRB曲线。- Minimum mean square error (MMSE) algorithm, Using wavelet denoising thought, The IMC- PID is using the internal model control principle for PID parameters is calculated, Ther