包含位置式PID算法、积分分离式PID，qxQBeCm参数本程序的性能已经超过其他算法，包含收发两个客户端的链路级通信程序,预报误差法参数辨识-松弛的思想，bOZNdRm条件matlab开发工具箱中的支持向量机，关于神经网络控制。- It contains positional PID algorithm, integral separate PID, qxQBeCm parameter　This program has exceeded the performance of other algorithms, Contains two clients receive link-level communications program, Prediction Error Method for Parameter Identification- the idea of relaxation, bOZNdRm condition　matlab development toolbox support vector machine, On neural network control.