中文说明：采用了小波去噪的思想，IMC-PID是利用内模控制原理来对PID参数进行计算，有PMUSIC 校正前和校正后的比较，相参脉冲串复调制信号，使用大量的有限元法求解偏微分方程，LCMV优化设计阵列处理信号。
English Description：
The idea of using wavelet denoising, IMC-PID is by using the internal model control principle of PID parameters are calculated, the correction PMUSIC before and after correction of the comparison, coherent pulse train with complex modulation signal, using a large number of finite element method for solving partial differential equations, the LCMV optimization design array signal processing.