IMC-PID是利用内模控制原理来对PID参数进行计算，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角，加入重复控制。- The IMC- PID is using the internal model control principle for PID parameters is calculated, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch angle, Join repetitive control.