IMC-PID是利用内模控制原理来对PID参数进行计算，到达过程是的泊松过程，直线阵采用切比学夫加权控制主旁瓣比。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Arrival process is a Poisson process, Linear array using cut than learning laid upon the right control of the main sidelobe ratio.