IMC-PID是利用内模控制原理来对PID参数进行计算，相控阵天线的方向图（切比雪夫加权），这个有中文注释，看得明白，基于互功率谱的时延估计，是一种双隐层反向传播神经网络，包括面积、周长、矩形度、伸长度。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Phased array antenna pattern (Chebyshev weights), The Chinese have a comment, understand it, Based on the time delay estimation of power spectrum, Is a two hidden layer back propagation neural network, Including the area, perimeter, rectangular, elongation.