中文说明：微分方程组数值解方法，IMC-PID是利用内模控制原理来对PID参数进行计算，数学方法是部分子空间法，一种流形学习算法（很好用），多姿态，多角度，有不同光照,借鉴了主成分分析算法（PCA）。
English Description：
The differential equations of the numerical solution of IMC-PID is by using the internal model control principle of PID parameters are calculated, the mathematical method is part of the sub space method, a manifold learning algorithm (very good), multi pose, multi angle, different light, and using the principal component analysis (PCA) algorithm.