本程序的性能已经超过其他算法，加入重复控制，均值便宜跟踪的示例，添加噪声处理，从先验概率中采样，计算权重，可以动态调节运行环境的参数。- This program has exceeded the performance of other algorithms, Join repetitive control, Example tracking mean cheap, Add noise processing, Sampling　a priori probability, calculate the weight, Can dynamically adjust the parameters of the operating environment.