IMC-PID是利用内模控制原理来对PID参数进行计算，经典的灰度共生矩阵纹理计算方法，多姿态，多角度，有不同光照。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Classic GLCM texture calculation method, Much posture, multi-angle, have different light.