中文说明：IMC-PID是利用内模控制原理来对PID参数进行计算，有详细的注释，调试通过可以使用，包含收发两个客户端的链路级通信程序,插值与拟合，解方程，数据分析，可以动态调节运行环境的参数。
English Description：
IMC-PID is by using the internal model control principle of PID parameters are calculated, there are detailed notes, through the debugger can be used, including sending and receiving two client link level communication program, interpolation and fitting, solving equations, data analysis, can dynamically adjust the parameters of the running environment.