error.txt

第一步：采用PID控制

0.540000	-0.124345	-0.111838	-0.012507	-0.458233	
0.541000	-0.127385	-0.114848	-0.012538	-0.457305	
0.542000	-0.130421	-0.117853	-0.012568	-0.456360	
0.543000	-0.133451	-0.120853	-0.012598	-0.455396	
0.544000	-0.136476	-0.123849	-0.012627	-0.454415	
0.545000	-0.139496	-0.126839	-0.012656	-0.453415	
0.546000	-0.142510	-0.129825	-0.012684	-0.452398	
0.547000	-0.145518	-0.132806	-0.012712	-0.451362	
0.548000	-0.148521	-0.135781	-0.012740	-0.450309	
0.549000	-0.151518	-0.138751	-0.012767	-0.449239	
0.550000	-0.154508	-0.141715	-0.012793	-0.448150	
0.551000	-0.157493	-0.144674	-0.012819	-0.447044	
0.552000	-0.160472	-0.147627	-0.012845	-0.445920	
0.553000	-0.163444	-0.150574	-0.012870	-0.444779	
0.554000	-0.166410	-0.153515	-0.012895	-0.443620	
0.555000	-0.169369	-0.156450	-0.012919	-0.442444	
0.556000	-0.172321	-0.159379	-0.012943	-0.441250	
0.557000	-0.175267	-0.162301	-0.012966	-0.440039	
0.558000	-0.178206	-0.165218	-0.012988	-0.438810	
0.559000	-0.181138	-0.168127	-0.013011	-0.437564	
0.560000	-0.184062	-0.171030	-0.013032	-0.436301	
0.561000	-0.186980	-0.173926	-0.013053	-0.435021	
0.562000	-0.189890	-0.176815	-0.013074	-0.433723	
0.563000	-0.192792	-0.179698	-0.013094	-0.432408	
0.564000	-0.195687	-0.182573	-0.013114	-0.431077	
0.565000	-0.198574	-0.185441	-0.013133	-0.429728	
0.566000	-0.201453	-0.188301	-0.013152	-0.428363	
0.567000	-0.204325	-0.191154	-0.013170	-0.426980	
0.568000	-0.207188	-0.194000	-0.013188	-0.425581	
0.569000	-0.210043	-0.196838	-0.013205	-0.424165	
0.570000	-0.212890	-0.199668	-0.013222	-0.422732	
0.571000	-0.215728	-0.202490	-0.013238	-0.421282	
0.572000	-0.218558	-0.205304	-0.013254	-0.419816	
0.573000	-0.221379	-0.208110	-0.013269	-0.418334	
0.574000	-0.224192	-0.210907	-0.013284	-0.416835	
0.575000	-0.226995	-0.213697	-0.013298	-0.415319	
0.576000	-0.229790	-0.216478	-0.013312	-0.413787	
0.577000	-0.232576	-0.219250	-0.013325	-0.412239	
0.578000	-0.235352	-0.222014	-0.013338	-0.410674	
0.579000	-0.238119	-0.224769	-0.013350	-0.409093	
0.580000	-0.240877	-0.227515	-0.013362	-0.407497	
0.581000	-0.243625	-0.230252	-0.013373	-0.405884	
0.582000	-0.246364	-0.232980	-0.013384	-0.404255	
0.583000	-0.249093	-0.235698	-0.013394	-0.402610	
0.584000	-0.251812	-0.238408	-0.013404	-0.400949	
0.585000	-0.254521	-0.241107	-0.013413	-0.399273	
0.586000	-0.257220	-0.243798	-0.013422	-0.397580	
0.587000	-0.259909	-0.246478	-0.013430	-0.395872	
0.588000	-0.262587	-0.249149	-0.013438	-0.394149	
0.589000	-0.265256	-0.251811	-0.013445	-0.392410	
0.590000	-0.267913	-0.254462	-0.013452	-0.390655	
0.591000	-0.270561	-0.257103	-0.013458	-0.388885	
0.592000	-0.273197	-0.259734	-0.013464	-0.387100	
0.593000	-0.275823	-0.262354	-0.013469	-0.385299	
0.594000	-0.278438	-0.264964	-0.013473	-0.383483	
0.595000	-0.281042	-0.267564	-0.013477	-0.381652	
0.596000	-0.283634	-0.270153	-0.013481	-0.379806	
0.597000	-0.286216	-0.272732	-0.013484	-0.377945	
0.598000	-0.288786	-0.275300	-0.013487	-0.376070	
0.599000	-0.291345	-0.277856	-0.013489	-0.374179	
0.600000	-0.293893	-0.280402	-0.013490	-0.372273	
0.601000	-0.296428	-0.282937	-0.013491	-0.370353	
0.602000	-0.298952	-0.285460	-0.013492	-0.368419	
0.603000	-0.301465	-0.287973	-0.013492	-0.366469	
0.604000	-0.303965	-0.290474	-0.013492	-0.364506	
0.605000	-0.306454	-0.292963	-0.013491	-0.362528	
0.606000	-0.308930	-0.295441	-0.013489	-0.360535	
0.607000	-0.311394	-0.297907	-0.013487	-0.358529	
0.608000	-0.313846	-0.300361	-0.013484	-0.356508	
0.609000	-0.316285	-0.302804	-0.013481	-0.354473	
0.610000	-0.318712	-0.305234	-0.013478	-0.352424	
0.611000	-0.321126	-0.307653	-0.013474	-0.350362	
0.612000	-0.323528	-0.310059	-0.013469	-0.348285	
0.613000	-0.325917	-0.312453	-0.013464	-0.346195	
0.614000	-0.328293	-0.314834	-0.013458	-0.344091	
0.615000	-0.330656	-0.317204	-0.013452	-0.341974	
0.616000	-0.333006	-0.319560	-0.013446	-0.339843	
0.617000	-0.335343	-0.321904	-0.013439	-0.337698	
0.618000	-0.337666	-0.324236	-0.013431	-0.335541	
0.619000	-0.339977	-0.326554	-0.013423	-0.333370	
0.620000	-0.342274	-0.328860	-0.013414	-0.331186	
0.621000	-0.344557	-0.331152	-0.013405	-0.328989	
0.622000	-0.346827	-0.333432	-0.013395	-0.326779	
0.623000	-0.349083	-0.335698	-0.013385	-0.324556	
0.624000	-0.351325	-0.337951	-0.013374	-0.322320	
0.625000	-0.353553	-0.340191	-0.013363	-0.320072	
0.626000	-0.355768	-0.342417	-0.013351	-0.317811	
0.627000	-0.357968	-0.344629	-0.013339	-0.315537	
0.628000	-0.360155	-0.346828	-0.013326	-0.313251	
0.629000	-0.362327	-0.349014	-0.013313	-0.310953	
0.630000	-0.364484	-0.351185	-0.013299	-0.308642	
0.631000	-0.366628	-0.353343	-0.013285	-0.306319	
0.632000	-0.368757	-0.355487	-0.013270	-0.303984	
0.633000	-0.370871	-0.357616	-0.013255	-0.301637	
0.634000	-0.372971	-0.359732	-0.013239	-0.299279	
0.635000	-0.375056	-0.361833	-0.013222	-0.296908	
0.636000	-0.377126	-0.363920	-0.013206	-0.294526	
0.637000	-0.379181	-0.365993	-0.013188	-0.292132	
0.638000	-0.381221	-0.368051	-0.013170	-0.289726	
0.639000	-0.383247	-0.370094	-0.013152	-0.287310	
0.640000	-0.385257	-0.372123	-0.013133	-0.284881	
0.641000	-0.387252	-0.374138	-0.013114	-0.282442	
0.642000	-0.389231	-0.376137	-0.013094	-0.279992	
0.643000	-0.391195	-0.378122	-0.013074	-0.277530	
0.644000	-0.393144	-0.380091	-0.013053	-0.275057	
0.645000	-0.395078	-0.382046	-0.013031	-0.272574	
0.646000	-0.396995	-0.383986	-0.013010	-0.270080	
0.647000	-0.398897	-0.385910	-0.012987	-0.267575	
0.648000	-0.400783	-0.387819	-0.012964	-0.265060	
0.649000	-0.402654	-0.389713	-0.012941	-0.262534	
0.650000	-0.404508	-0.391591	-0.012917	-0.259998	
0.651000	-0.406347	-0.393454	-0.012893	-0.257452	
0.652000	-0.408170	-0.395302	-0.012868	-0.254895	
0.653000	-0.409976	-0.397133	-0.012843	-0.252328	
0.654000	-0.411766	-0.398949	-0.012817	-0.249752	
0.655000	-0.413540	-0.400750	-0.012791	-0.247166	
0.656000	-0.415298	-0.402534	-0.012764	-0.244569	
0.657000	-0.417039	-0.404303	-0.012736	-0.241964	
0.658000	-0.418764	-0.406055	-0.012709	-0.239348	
0.659000	-0.420472	-0.407792	-0.012680	-0.236724	
0.660000	-0.422164	-0.409512	-0.012652	-0.234090	
0.661000	-0.423839	-0.411217	-0.012622	-0.231446	
0.662000	-0.425497	-0.412905	-0.012593	-0.228794	
0.663000	-0.427139	-0.414576	-0.012563	-0.226132	
0.664000	-0.428763	-0.416232	-0.012532	-0.223462	
0.665000	-0.430371	-0.417870	-0.012501	-0.220783	
0.666000	-0.431962	-0.419493	-0.012469	-0.218095	
0.667000	-0.433535	-0.421098	-0.012437	-0.215399	
0.668000	-0.435092	-0.422688	-0.012404	-0.212694	
0.669000	-0.436631	-0.424260	-0.012371	-0.209980	
0.670000	-0.438153	-0.425816	-0.012338	-0.207259	
0.671000	-0.439658	-0.427355	-0.012304	-0.204529	
0.672000	-0.441146	-0.428876	-0.012269	-0.201791	
0.673000	-0.442616	-0.430381	-0.012234	-0.199045	
0.674000	-0.444068	-0.431869	-0.012199	-0.196291	
0.675000	-0.445503	-0.433340	-0.012163	-0.193530	
0.676000	-0.446921	-0.434794	-0.012126	-0.190761	
0.677000	-0.448321	-0.436231	-0.012090	-0.187984	
0.678000	-0.449703	-0.437650	-0.012052	-0.185200	
0.679000	-0.451067	-0.439052	-0.012015	-0.182409	
0.680000	-0.452414	-0.440437	-0.011976	-0.179611	
0.681000	-0.453742	-0.441805	-0.011938	-0.176805	
0.682000	-0.455053	-0.443155	-0.011898	-0.173993	
0.683000	-0.456346	-0.444487	-0.011859	-0.171173	
0.684000	-0.457621	-0.445802	-0.011819	-0.168347	
0.685000	-0.458877	-0.447099	-0.011778	-0.165514	
0.686000	-0.460116	-0.448379	-0.011737	-0.162675	
0.687000	-0.461336	-0.449640	-0.011696	-0.159830	
0.688000	-0.462539	-0.450885	-0.011654	-0.156978	
0.689000	-0.463723	-0.452111	-0.011612	-0.154119	
0.690000	-0.464888	-0.453319	-0.011569	-0.151255	
0.691000	-0.466036	-0.454510	-0.011526	-0.148385	
0.692000	-0.467164	-0.455682	-0.011482	-0.145509	
0.693000	-0.468275	-0.456837	-0.011438	-0.142627	
0.694000	-0.469367	-0.457973	-0.011393	-0.139740	
0.695000	-0.470440	-0.459092	-0.011348	-0.136847	
0.696000	-0.471495	-0.460192	-0.011303	-0.133948	
0.697000	-0.472532	-0.461274	-0.011257	-0.131045	
0.698000	-0.473549	-0.462338	-0.011211	-0.128136	
0.699000	-0.474548	-0.463384	-0.011164	-0.125222	
0.700000	-0.475528	-0.464411	-0.011117	-0.122304	
0.701000	-0.476490	-0.465420	-0.011070	-0.119380	
0.702000	-0.477432	-0.466411	-0.011022	-0.116452	
0.703000	-0.478356	-0.467383	-0.010973	-0.113519	
0.704000	-0.479261	-0.468337	-0.010924	-0.110582	
0.705000	-0.480147	-0.469272	-0.010875	-0.107640	
0.706000	-0.481014	-0.470188	-0.010825	-0.104694	
0.707000	-0.481862	-0.471087	-0.010775	-0.101744	
0.708000	-0.482691	-0.471966	-0.010725	-0.098790	
0.709000	-0.483501	-0.472827	-0.010674	-0.095832	
0.710000	-0.484292	-0.473669	-0.010623	-0.092870	
0.711000	-0.485063	-0.474492	-0.010571	-0.089905	
0.712000	-0.485816	-0.475297	-0.010519	-0.086936	
0.713000	-0.486549	-0.476083	-0.010466	-0.083964	
0.714000	-0.487263	-0.476850	-0.010413	-0.080988	
0.715000	-0.487958	-0.477599	-0.010360	-0.078009	
0.716000	-0.488634	-0.478328	-0.010306	-0.075027	
0.717000	-0.489290	-0.479039	-0.010252	-0.072042	
0.718000	-0.489928	-0.479730	-0.010197	-0.069055	
0.719000	-0.490545	-0.480403	-0.010142	-0.066064	
0.720000	-0.491144	-0.481057	-0.010087	-0.063071	
0.721000	-0.491723	-0.481691	-0.010031	-0.060076	
0.722000	-0.492282	-0.482307	-0.009975	-0.057078	
0.723000	-0.492822	-0.482903	-0.009919	-0.054078	
0.724000	-0.493343	-0.483481	-0.009862	-0.051076	
0.725000	-0.493844	-0.484039	-0.009805	-0.048071	
0.726000	-0.494326	-0.484579	-0.009747	-0.045065	
0.727000	-0.494788	-0.485099	-0.009689	-0.042057	
0.728000	-0.495231	-0.485600	-0.009631	-0.039048	
0.729000	-0.495654	-0.486082	-0.009572	-0.036037	
0.730000	-0.496057	-0.486544	-0.009513	-0.033024	
0.731000	-0.496441	-0.486988	-0.009453	-0.030011	
0.732000	-0.496806	-0.487412	-0.009394	-0.026996	
0.733000	-0.497150	-0.487817	-0.009333	-0.023980	
0.734000	-0.497476	-0.488203	-0.009273	-0.020963	
0.735000	-0.497781	-0.488569	-0.009212	-0.017945	
0.736000	-0.498067	-0.488916	-0.009151	-0.014926	
0.737000	-0.498333	-0.489244	-0.009089	-0.011907	
0.738000	-0.498579	-0.489552	-0.009027	-0.008888	
0.739000	-0.498806	-0.489842	-0.008965	-0.005868	
0.740000	-0.499013	-0.490111	-0.008902	-0.002848	
0.741000	-0.499201	-0.490362	-0.008839	0.000172	
0.742000	-0.499368	-0.490593	-0.008776	0.003193	
0.743000	-0.499516	-0.490804	-0.008712	0.006213	
0.744000	-0.499645	-0.490997	-0.008648	0.009232	
0.745000	-0.499753	-0.491170	-0.008584	0.012252	
0.746000	-0.499842	-0.491323	-0.008519	0.015271	
0.747000	-0.499911	-0.491457	-0.008454	0.018289	
0.748000	-0.499961	-0.491572	-0.008389	0.021307	
0.749000	-0.499990	-0.491667	-0.008323	0.024323	
0.750000	-0.500000	-0.491743	-0.008257	0.027339	
0.751000	-0.499990	-0.491799	-0.008191	0.030354	
0.752000	-0.499961	-0.491836	-0.008124	0.033367	
0.753000	-0.499911	-0.491854	-0.008057	0.036380	
0.754000	-0.499842	-0.491852	-0.007990	0.039390	
0.755000	-0.499753	-0.491831	-0.007922	0.042399	
0.756000	-0.499645	-0.491790	-0.007855	0.045407	
0.757000	-0.499516	-0.491730	-0.007786	0.048413	
0.758000	-0.499368	-0.491651	-0.007718	0.051416	
0.759000	-0.499201	-0.491552	-0.007649	0.054418	
0.760000	-0.499013	-0.491433	-0.007580	0.057418	
0.761000	-0.498806	-0.491295	-0.007511	0.060415	
0.762000	-0.498579	-0.491138	-0.007441	0.063410	
0.763000	-0.498333	-0.490962	-0.007371	0.066402	
0.764000	-0.498067	-0.490766	-0.007301	0.069392	
0.765000	-0.497781	-0.490550	-0.007231	0.072379	
0.766000	-0.497476	-0.490316	-0.007160	0.075363	
0.767000	-0.497150	-0.490062	-0.007089	0.078344	
0.768000	-0.496806	-0.489788	-0.007018	0.081322	
0.769000	-0.496441	-0.489495	-0.006946	0.084297	
0.770000	-0.496057	-0.489183	-0.006874	0.087269	
0.771000	-0.495654	-0.488852	-0.006802	0.090237	
0.772000	-0.495231	-0.488501	-0.006730	0.093201	
0.773000	-0.494788	-0.488131	-0.006657	0.096162	
0.774000	-0.494326	-0.487742	-0.006584	0.099119	
0.775000	-0.493844	-0.487333	-0.006511	0.102072	
0.776000	-0.493343	-0.486905	-0.006438	0.105021	
0.777000	-0.492822	-0.486458	-0.006364	0.107966	
0.778000	-0.492282	-0.485992	-0.006290	0.110907	
0.779000	-0.491723	-0.485506	-0.006216	0.113843	
0.780000	-0.491144	-0.485002	-0.006142	0.116775	
0.781000	-0.490545	-0.484478	-0.006067	0.119702	
0.782000	-0.489928	-0.483935	-0.005993	0.122625	
0.783000	-0.489290	-0.483373	-0.005917	0.125542	
0.784000	-0.488634	-0.482792	-0.005842	0.128455	
0.785000	-0.487958	-0.482192	-0.005767	0.131362	
0.786000	-0.487263	-0.481572	-0.005691	0.134265	
0.787000	-0.486549	-0.480934	-0.005615	0.137162	
0.788000	-0.485816	-0.480277	-0.005539	0.140053	
0.789000	-0.485063	-0.479601	-0.005463	0.142939	
0.790000	-0.484292	-0.478906	-0.005386	0.145820	
0.791000	-0.483501	-0.478191	-0.005309	0.148694	
0.792000	-0.482691	-0.477459	-0.005232	0.151563	
0.793000	-0.481862	-0.476707	-0.005155	0.154426	
0.794000	-0.481014	-0.475936	-0.005078	0.157283	
0.795000	-0.480147	-0.475147	-0.005000	0.160133	
0.796000	-0.479261	-0.474338	-0.004922	0.162977	
0.797000	-0.478356	-0.473512	-0.004845	0.165815	
0.798000	-0.477432	-0.472666	-0.004766	0.168646	
0.799000	-0.476490	-0.471802	-0.004688	0.171471	
0.800000	-0.475528	-0.470919	-0.004610	0.174288	
0.801000	-0.474548	-0.470017	-0.004531	0.177099	
0.802000	-0.473549	-0.469097	-0.004452	0.179903	
0.803000	-0.472532	-0.468158	-0.004373	0.182700	
0.804000	-0.471495	-0.467201	-0.004294	0.185489	
0.805000	-0.470440	-0.466226	-0.004215	0.188271	
0.806000	-0.469367	-0.465232	-0.004135	0.191046	
0.807000	-0.468275	-0.464219	-0.004055	0.193813	
0.808000	-0.467164	-0.463189	-0.003976	0.196573	
0.809000	-0.466036	-0.462140	-0.003896	0.199325