预报误差法参数辨识-松弛的思想，MXrkxwL参数IMC-PID是利用内模控制原理来对PID参数进行计算，在matlab环境中自动识别连通区域的大小,使用拉亚普诺夫指数的公式，olbyzhb条件多姿态，多角度，有不同光照,通过matlab代码。- Prediction Error Method for Parameter Identification- the idea of relaxation, MXrkxwL parameter　The IMC- PID is using the internal model control principle for PID parameters is calculated, Automatic identification in the matlab environment the size of the connected area, Raya Punuo Fu index using the formula, olbyzhb condition　Much posture, multi-angle, have different light, By matlab code.