IMC-PID是利用内模控制原理来对PID参数进行计算，匹配追踪和正交匹配追踪，包括面积、周长、矩形度、伸长度。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Matching Pursuit and orthogonal matching pursuit, Including the area, perimeter, rectangular, elong