已调制信号计算其普相关密度，部分实现了追踪测速迭代松弛算法，IMC-PID是利用内模控制原理来对PID参数进行计算。- Modulated signals to calculate its density Pu-related, Partially achieved tracking speed iterative relaxation algorithm, The IMC- PID is using the internal model control principle for PID pa