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，这个有中文注释，看得明白，IMC-PID是利用内模控制原理来对PID参数进行计算。- It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch angle, The Chinese have a comment, understand it, The IMC- PID is using the internal model control principle for PID parameters is calculated.