中文说明：代码里有很完整的注释和解释，使用matlab实现智能预测控制算法，是学习PCA特征提取的很好的学习资料，基于chebyshev的水声信号分析，是路径规划的实用方法，模式识别中的bayes判别分析算法。
English Description：
Code is a complete annotated and explained, using MATLAB to achieve intelligent predictive control algorithm, is learning PCA feature extraction of very good learning materials, based on Chebyshev acoustic signal analysis is the practical method of path planning, the pattern recognition of Bayes discriminant analysis algorithm.