利用最小二乘法进行拟合多元非线性方程，IMC-PID是利用内模控制原理来对PID参数进行计算，粒子图像分割及匹配均为自行编制的子例程。- Multivariate least squares fitting method of nonlinear equations, The IMC- PID is using the internal model control principle for PID parameters is calculated, Particle image segmentation and matching subroutines themselves are prepared.