IMC-PID是利用内模控制原理来对PID参数进行计算，分析了该信号的时域、频域、倒谱，循环谱等,借鉴了主成分分析算法（PCA）。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Analysis of the signal time domain, frequency domain, cepstrum, cyclic spectrum, etc. It d