中文说明：在matlab R2009b调试通过，是机器学习的例程，是一种双隐层反向传播神经网络，有循环检测，周期性检测，添加噪声处理，IMC-PID是利用内模控制原理来对PID参数进行计算。
English Description：
Debugging in MATLAB r2009b, machine learning routines, is a double hidden layer backpropagation neural network, there are cycle detection, periodic detection and add noise to deal with, IMC-PID is by using the internal model control principle of PID parameters are calculated.