中文说明：使用拉亚普诺夫指数的公式，包含了阵列信号处理的常见算法，IMC-PID是利用内模控制原理来对PID参数进行计算，最终的权值矩阵就是滤波器的系数，一种噪声辅助数据分析方法,数据模型归一化，模态振动。
English Description：
Use, including the common array signal processing algorithms, La Jaap Andrianof index formula of IMC-PID is by using the internal model control theory is used to calculate the parameters of PID, final weight matrix is that of the filter coefficients, a noise assisted data analysis method, data model normalization, modal vibration.