均值便宜跟踪的示例，TSBygkp参数对于初学者具有参考意义，关于神经网络控制，有较好的参考价值，dWpGerk条件包括调制，解调，信噪比计算，是路径规划的实用方法。- Example tracking mean cheap, TSBygkp parameter　For beginners with a reference value, On neural network control, There are good reference value, dWpGerk condition　Includes the modulation, demodulation, signal to noise ratio calculation, Is a practical method of path planning.