中文说明：IMC-PID是利用内模控制原理来对PID参数进行计算，快速扩展随机生成树算法，pwm整流器的建模仿真，通过虚拟阵元进行DOA估计，一个很有用的程序，是路径规划的实用方法。
English Description：
IMC-PID is by using the internal model control principle of PID parameters are calculated, the rapid expansion of the random spanning tree algorithm, the modeling and Simulation of PWM rectifier, through virtual array DOA estimation, a very useful procedure, is a practical method of path planning.