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代码说明：

  包括数据分析、绘图等等,这个有中文注释，看得明白，对信号进行频谱分析及滤波，IMC-PID是利用内模控制原理来对PID参数进行计算，分析了该信号的时域、频域、倒谱，循环谱等,基于互功率谱的时延估计。( Data analysis, plotting, etc., The Chinese have a comment, understand it, The signal spectral analysis and filtering, The IMC- PID is using the internal model control principle for PID parameters is calculated, Analysis of the signal time domain, frequency domain, cepstrum, cyclic spectrum, etc. Based on the time delay estimation of power spectrum.)