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  包括随机梯度算法，相对梯度算法，DC-DC部分采用定功率单环控制，调试通过可以使用，快速扩展随机生成树算法，基于chebyshev的水声信号分析，IMC-PID是利用内模控制原理来对PID参数进行计算，有PMUSIC 校正前和校正后的比较。( Including stochastic gradient algorithm, the relative gradient algorithm, DC-DC power single-part set-loop control, Debugging can be used, Rapid expansion of random spanning tree algorithm, Based chebyshev underwater acoustic signal analysis, The IMC- PID is using the internal model control principle for PID parameters is calculated, A relatively before correction and after correction PMUSIC.)