基于混沌的模拟退火算法，比较了软阈值，硬阈值及当今各种阈值计算方法,IMC-PID是利用内模控制原理来对PID参数进行计算。- Chaos-based simulated annealing algorithm, Comparison of soft threshold and hard threshold and today various threshold calculation method, The IMC- PID is using the internal model contro