IMC-PID是利用内模控制原理来对PID参数进行计算，MIT人工智能实验室的目标识别的源码,部分实现了追踪测速迭代松弛算法。- The IMC- PID is using the internal model control principle for PID parameters is calculated, MIT Artificial Intelligence Laboratory identification of the target source, Partially achieved tracking speed iterative relaxation algorithm.