中文说明： 采用了小波去噪的思想，IMC-PID是利用内模控制原理来对PID参数进行计算，有PMUSIC 校正前和校正后的比较，相参脉冲串复调制信号，使用大量的有限元法求解偏微分方程，LCMV优化设计阵列处理信号。
English Description：
Using Wavelet denoising, IMC-PID is the use of the internal model control theory to calculate the PID parameters, PMUSIC calibration before and after correction, coherent pulse train multiple modulation signals, using a large number of the finite element method for solving partial differential equations, and LCMV optimum design of array signal processing.