中文说明：对于初学者具有参考意义，双向PCS控制仿真，最终的权值矩阵就是滤波器的系数，是路径规划的实用方法，信号处理中的旋转不变子空间法，在matlab环境中自动识别连通区域的大小。
English Description：
Has a reference significance to the beginners, two-way, PCS control simulation, final weight matrix is that of the filter coefficients is the practical method of path planning, a rotationally invariant subspace method in signal processing, in the MATLAB environment, automatic identification connected region size.