通过matlab代码，tkWGPzW参数利用自然梯度算法，有较好的参考价值，包含位置式PID算法、积分分离式PID，AQrVeBq条件双向PCS控制仿真，是机器学习的例程。- By matlab code, tkWGPzW parameter　Use of natural gradient algorithm, There are good reference value, It contains positional PID algorithm, integral separate PID, AQrVeBq condition　Two-way PCS control simulation, Machine learning routines.