中文说明： 最终的权值矩阵就是滤波器的系数，IMC-PID是利用内模控制原理来对PID参数进行计算，在matlab R2009b调试通过，有较好的参考价值，matlab实现了五类灰色关联度模型的计算,包含了阵列信号处理的常见算法。
English Description：
Final weight matrix is the filter coefficients, IMC-PID is the PID parameters by using internal model control theory to calculate, MATLAB R2009b tested, have a good reference value, MATLAB implements five types of calculation of grey correlation model, contains common array signal processing algorithms.