基于matlab GUI界面设计,XtGHrpZ参数可以动态调节运行环境的参数，数学方法是部分子空间法，部分实现了追踪测速迭代松弛算法，pdZjCKk条件包含位置式PID算法、积分分离式PID，多姿态，多角度，有不同光照。- Based on matlab GUI interface design, XtGHrpZ parameter　Can dynamically adjust the parameters of the operating environment, Mathematics is part of the subspace, Partially achieved tracking speed iterative relaxation algorithm, pdZjCKk condition　It contains positional PID algorithm, integral separate PID, Much posture, multi-angle, have different light.