IMC-PID是利用内模控制原理来对PID参数进行计算，中介真值程度度量，基于中介真值程度度量的图像分割wolf 方法计算李雅普诺夫指数。- The IMC- PID is using the internal model control principle for PID parameters is calculated, The true extent of the value of the intermediary measure, measure the true extent of t