IMC-PID是利用内模控制原理来对PID参数进行计算，是一种双隐层反向传播神经网络，最终的权值矩阵就是滤波器的系数。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Is a two hidden layer back propagation neural network, The final weight matrix is ??the filter c