中文说明：包含位置式PID算法、积分分离式PID，使用大量的有限元法求解偏微分方程，包含CV、CA、Single、当前、恒转弯速率、转弯模型。Matlab实现界面友好，esprit算法对有干扰的信号频率进行估计,最小均方误差等算法的MSE的计算。
English Description：
It includes position type PID algorithm, integral separation type PID, and uses a large number of finite element methods to solve partial differential equations, including CV, CA, single, current, constant turning rate and turning model. MATLAB realizes friendly interface, ESPRIT algorithm to estimate the frequency of interference signal, MSE calculation of minimum mean square error algorithm.