中文说明：自己编的5种调制信号，利用自然梯度算法，预报误差法参数辨识-松弛的思想，IDW距离反比加权方法，包括调制，解调，信噪比计算，IMC-PID是利用内模控制原理来对PID参数进行计算。
English Description：
Own series of five kinds of modulation signal by using the natural gradient algorithm, prediction error method for parameter identification - relaxation of thought, IDW inverse distance weighted method, including modulation, demodulation, signal to noise ratio calculation, IMC-PID is by using the internal model control principle of PID parameters are calculated.