IMC-PID是利用内模控制原理来对PID参数进行计算，本程序的性能已经达到较高水平，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, The performance of the program has reached a high level, Partially achieved tracking speed iterative relaxation algorithm.