IMC-PID是利用内模控制原理来对PID参数进行计算，对于初学matlab的同学会有帮助，matlab程序运行时导入数据文件作为输入参数，是路径规划的实用方法，虚拟力的无线传感网络覆盖，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, Matlab for beginner students will help, Import data files as input parameters matlab program is running, Is a practical method of path planning, Virtual power wireless sensor network coverage, Including the area, perimeter, rectangular, elongation.