IMC-PID是利用内模控制原理来对PID参数进行计算，最小均方误差（MMSE）的算法，包括脚本文件和函数文件形式，数据包传送源码程序。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Minimum mean square error (MMSE) algorithm, Including scr ipt files and function files