IMC-PID是利用内模控制原理来对PID参数进行计算，中介真值程度度量，基于中介真值程度度量的图像分割wolf 方法计算李雅普诺夫指数。- The IMC- PID is using the internal model control principle for PID parameters is calculated, The true extent of the value of the intermediary measure, measure the true extent of the agency based on the value of image segmentation wolf calculated Lyapuno