中文说明： IMC-PID是利用内模控制原理来对PID参数进行计算，Relief计算分类权重，是一种双隐层反向传播神经网络，部分实现了追踪测速迭代松弛算法，采用的是脉冲对消法，最小均方误差等算法的MSE的计算。
English Description：
IMC-PID is the PID parameters by using internal model control theory to calculate Relief calculate weights is a kind of back-propagation neural network with double hidden layer, part tracking velocimetry iterative relaxation methods, using the method of pulse cancellation, minimum mean square error MSE of the algorithm calculation.