IMC-PID是利用内模控制原理来对PID参数进行计算，实现了对10个数字音的识别程序最小均方误差（MMSE）的算法，实现串口的数据采集，分析了该信号的时域、频域、倒谱，循环谱等。- The IMC- PID is using the internal model control principle for PID parameters is calculated, Realization of 10 digital audio recognition program Minimum mean square error (MMSE) algorithm, Achieve serial data acquisition, Analysis of the signal time domain, frequency domain, cepstrum, cyclic spectrum, etc.