error.txt

第一步：采用PID控制

0.810000	-0.464888	-0.461073	-0.003816	0.202069	
0.811000	-0.463723	-0.459987	-0.003735	0.204805	
0.812000	-0.462539	-0.458884	-0.003655	0.207532	
0.813000	-0.461336	-0.457762	-0.003574	0.210252	
0.814000	-0.460116	-0.456622	-0.003494	0.212963	
0.815000	-0.458877	-0.455464	-0.003413	0.215666	
0.816000	-0.457621	-0.454289	-0.003332	0.218361	
0.817000	-0.456346	-0.453095	-0.003251	0.221046	
0.818000	-0.455053	-0.451883	-0.003170	0.223724	
0.819000	-0.453742	-0.450654	-0.003089	0.226392	
0.820000	-0.452414	-0.449406	-0.003007	0.229051	
0.821000	-0.451067	-0.448141	-0.002926	0.231701	
0.822000	-0.449703	-0.446859	-0.002844	0.234342	
0.823000	-0.448321	-0.445558	-0.002762	0.236974	
0.824000	-0.446921	-0.444240	-0.002680	0.239597	
0.825000	-0.445503	-0.442905	-0.002598	0.242209	
0.826000	-0.444068	-0.441552	-0.002516	0.244813	
0.827000	-0.442616	-0.440181	-0.002434	0.247407	
0.828000	-0.441146	-0.438794	-0.002352	0.249991	
0.829000	-0.439658	-0.437388	-0.002270	0.252565	
0.830000	-0.438153	-0.435966	-0.002187	0.255129	
0.831000	-0.436631	-0.434526	-0.002105	0.257683	
0.832000	-0.435092	-0.433070	-0.002022	0.260227	
0.833000	-0.433535	-0.431596	-0.001940	0.262760	
0.834000	-0.431962	-0.430105	-0.001857	0.265284	
0.835000	-0.430371	-0.428597	-0.001774	0.267796	
0.836000	-0.428763	-0.427072	-0.001691	0.270299	
0.837000	-0.427139	-0.425530	-0.001608	0.272790	
0.838000	-0.425497	-0.423972	-0.001526	0.275271	
0.839000	-0.423839	-0.422396	-0.001443	0.277741	
0.840000	-0.422164	-0.420805	-0.001359	0.280199	
0.841000	-0.420472	-0.419196	-0.001276	0.282647	
0.842000	-0.418764	-0.417571	-0.001193	0.285084	
0.843000	-0.417039	-0.415929	-0.001110	0.287509	
0.844000	-0.415298	-0.414271	-0.001027	0.289923	
0.845000	-0.413540	-0.412597	-0.000943	0.292326	
0.846000	-0.411766	-0.410906	-0.000860	0.294717	
0.847000	-0.409976	-0.409199	-0.000777	0.297096	
0.848000	-0.408170	-0.407476	-0.000693	0.299464	
0.849000	-0.406347	-0.405737	-0.000610	0.301820	
0.850000	-0.404508	-0.403982	-0.000527	0.304164	
0.851000	-0.402654	-0.402211	-0.000443	0.306496	
0.852000	-0.400783	-0.400424	-0.000360	0.308815	
0.853000	-0.398897	-0.398621	-0.000276	0.311123	
0.854000	-0.396995	-0.396802	-0.000193	0.313418	
0.855000	-0.395078	-0.394968	-0.000110	0.315701	
0.856000	-0.393144	-0.393118	-0.000026	0.317972	
0.857000	-0.391195	-0.391253	0.000057	0.320230	
0.858000	-0.389231	-0.389372	0.000141	0.322475	
0.859000	-0.387252	-0.387476	0.000224	0.324708	
0.860000	-0.385257	-0.385564	0.000308	0.326927	
0.861000	-0.383247	-0.383638	0.000391	0.329134	
0.862000	-0.381221	-0.381696	0.000474	0.331328	
0.863000	-0.379181	-0.379739	0.000558	0.333509	
0.864000	-0.377126	-0.377767	0.000641	0.335676	
0.865000	-0.375056	-0.375780	0.000724	0.337831	
0.866000	-0.372971	-0.373778	0.000808	0.339972	
0.867000	-0.370871	-0.371762	0.000891	0.342099	
0.868000	-0.368757	-0.369731	0.000974	0.344213	
0.869000	-0.366628	-0.367685	0.001057	0.346314	
0.870000	-0.364484	-0.365625	0.001140	0.348400	
0.871000	-0.362327	-0.363550	0.001223	0.350473	
0.872000	-0.360155	-0.361461	0.001306	0.352532	
0.873000	-0.357968	-0.359358	0.001389	0.354578	
0.874000	-0.355768	-0.357240	0.001472	0.356609	
0.875000	-0.353553	-0.355108	0.001555	0.358626	
0.876000	-0.351325	-0.352963	0.001638	0.360629	
0.877000	-0.349083	-0.350803	0.001721	0.362618	
0.878000	-0.346827	-0.348630	0.001803	0.364592	
0.879000	-0.344557	-0.346443	0.001886	0.366552	
0.880000	-0.342274	-0.344242	0.001968	0.368498	
0.881000	-0.339977	-0.342027	0.002051	0.370429	
0.882000	-0.337666	-0.339799	0.002133	0.372345	
0.883000	-0.335343	-0.337558	0.002215	0.374247	
0.884000	-0.333006	-0.335303	0.002297	0.376134	
0.885000	-0.330656	-0.333035	0.002379	0.378006	
0.886000	-0.328293	-0.330754	0.002461	0.379863	
0.887000	-0.325917	-0.328460	0.002543	0.381705	
0.888000	-0.323528	-0.326153	0.002625	0.383532	
0.889000	-0.321126	-0.323833	0.002706	0.385344	
0.890000	-0.318712	-0.321500	0.002788	0.387141	
0.891000	-0.316285	-0.319154	0.002869	0.388922	
0.892000	-0.313846	-0.316796	0.002950	0.390688	
0.893000	-0.311394	-0.314425	0.003032	0.392439	
0.894000	-0.308930	-0.312042	0.003113	0.394174	
0.895000	-0.306454	-0.309647	0.003193	0.395894	
0.896000	-0.303965	-0.307239	0.003274	0.397598	
0.897000	-0.301465	-0.304820	0.003355	0.399286	
0.898000	-0.298952	-0.302388	0.003435	0.400958	
0.899000	-0.296428	-0.299944	0.003516	0.402615	
0.900000	-0.293893	-0.297489	0.003596	0.404256	
0.901000	-0.291345	-0.295021	0.003676	0.405880	
0.902000	-0.288786	-0.292542	0.003756	0.407489	
0.903000	-0.286216	-0.290052	0.003836	0.409082	
0.904000	-0.283634	-0.287550	0.003915	0.410658	
0.905000	-0.281042	-0.285037	0.003995	0.412219	
0.906000	-0.278438	-0.282512	0.004074	0.413763	
0.907000	-0.275823	-0.279976	0.004153	0.415290	
0.908000	-0.273197	-0.277429	0.004232	0.416802	
0.909000	-0.270561	-0.274872	0.004311	0.418297	
0.910000	-0.267913	-0.272303	0.004390	0.419775	
0.911000	-0.265256	-0.269724	0.004468	0.421237	
0.912000	-0.262587	-0.267134	0.004546	0.422682	
0.913000	-0.259909	-0.264533	0.004625	0.424110	
0.914000	-0.257220	-0.261922	0.004702	0.425522	
0.915000	-0.254521	-0.259301	0.004780	0.426917	
0.916000	-0.251812	-0.256669	0.004858	0.428295	
0.917000	-0.249093	-0.254028	0.004935	0.429656	
0.918000	-0.246364	-0.251376	0.005012	0.431000	
0.919000	-0.243625	-0.248714	0.005089	0.432327	
0.920000	-0.240877	-0.246043	0.005166	0.433637	
0.921000	-0.238119	-0.243361	0.005242	0.434930	
0.922000	-0.235352	-0.240671	0.005319	0.436206	
0.923000	-0.232576	-0.237970	0.005395	0.437464	
0.924000	-0.229790	-0.235260	0.005471	0.438705	
0.925000	-0.226995	-0.232541	0.005546	0.439929	
0.926000	-0.224192	-0.229813	0.005622	0.441136	
0.927000	-0.221379	-0.227076	0.005697	0.442325	
0.928000	-0.218558	-0.224330	0.005772	0.443497	
0.929000	-0.215728	-0.221575	0.005847	0.444651	
0.930000	-0.212890	-0.218811	0.005921	0.445788	
0.931000	-0.210043	-0.216038	0.005995	0.446907	
0.932000	-0.207188	-0.213257	0.006069	0.448008	
0.933000	-0.204325	-0.210468	0.006143	0.449092	
0.934000	-0.201453	-0.207670	0.006217	0.450158	
0.935000	-0.198574	-0.204864	0.006290	0.451206	
0.936000	-0.195687	-0.202050	0.006363	0.452236	
0.937000	-0.192792	-0.199228	0.006436	0.453249	
0.938000	-0.189890	-0.196398	0.006508	0.454243	
0.939000	-0.186980	-0.193560	0.006581	0.455220	
0.940000	-0.184062	-0.190715	0.006653	0.456179	
0.941000	-0.181138	-0.187862	0.006725	0.457119	
0.942000	-0.178206	-0.185002	0.006796	0.458042	
0.943000	-0.175267	-0.182134	0.006867	0.458946	
0.944000	-0.172321	-0.179260	0.006938	0.459833	
0.945000	-0.169369	-0.176378	0.007009	0.460701	
0.946000	-0.166410	-0.173489	0.007079	0.461551	
0.947000	-0.163444	-0.170593	0.007149	0.462383	
0.948000	-0.160472	-0.167691	0.007219	0.463197	
0.949000	-0.157493	-0.164782	0.007289	0.463992	
0.950000	-0.154508	-0.161866	0.007358	0.464769	
0.951000	-0.151518	-0.158945	0.007427	0.465528	
0.952000	-0.148521	-0.156016	0.007496	0.466268	
0.953000	-0.145518	-0.153082	0.007564	0.466990	
0.954000	-0.142510	-0.150142	0.007632	0.467693	
0.955000	-0.139496	-0.147195	0.007700	0.468378	
0.956000	-0.136476	-0.144243	0.007767	0.469045	
0.957000	-0.133451	-0.141285	0.007834	0.469692	
0.958000	-0.130421	-0.138322	0.007901	0.470322	
0.959000	-0.127385	-0.135353	0.007968	0.470933	
0.960000	-0.124345	-0.132379	0.008034	0.471525	
0.961000	-0.121300	-0.129399	0.008100	0.472099	
0.962000	-0.118249	-0.126415	0.008165	0.472654	
0.963000	-0.115195	-0.123425	0.008230	0.473190	
0.964000	-0.112135	-0.120431	0.008295	0.473707	
0.965000	-0.109072	-0.117431	0.008360	0.474206	
0.966000	-0.106004	-0.114428	0.008424	0.474687	
0.967000	-0.102931	-0.111419	0.008488	0.475148	
0.968000	-0.099855	-0.108407	0.008552	0.475591	
0.969000	-0.096775	-0.105390	0.008615	0.476015	
0.970000	-0.093691	-0.102368	0.008678	0.476420	
0.971000	-0.090603	-0.099343	0.008740	0.476806	
0.972000	-0.087512	-0.096314	0.008802	0.477174	
0.973000	-0.084417	-0.093281	0.008864	0.477522	
0.974000	-0.081319	-0.090244	0.008926	0.477852	
0.975000	-0.078217	-0.087204	0.008987	0.478163	
0.976000	-0.075113	-0.084160	0.009048	0.478455	
0.977000	-0.072005	-0.081113	0.009108	0.478728	
0.978000	-0.068895	-0.078063	0.009168	0.478982	
0.979000	-0.065782	-0.075010	0.009228	0.479218	
0.980000	-0.062667	-0.071954	0.009287	0.479434	
0.981000	-0.059549	-0.068895	0.009346	0.479632	
0.982000	-0.056428	-0.065833	0.009405	0.479810	
0.983000	-0.053306	-0.062768	0.009463	0.479970	
0.984000	-0.050181	-0.059701	0.009521	0.480111	
0.985000	-0.047054	-0.056632	0.009578	0.480232	
0.986000	-0.043926	-0.053561	0.009635	0.480335	
0.987000	-0.040795	-0.050487	0.009692	0.480419	
0.988000	-0.037663	-0.047412	0.009748	0.480484	
0.989000	-0.034530	-0.044334	0.009804	0.480530	
0.990000	-0.031395	-0.041255	0.009860	0.480556	
0.991000	-0.028259	-0.038174	0.009915	0.480564	
0.992000	-0.025122	-0.035092	0.009969	0.480553	
0.993000	-0.021984	-0.032008	0.010024	0.480523	
0.994000	-0.018845	-0.028923	0.010078	0.480474	
0.995000	-0.015705	-0.025837	0.010131	0.480406	
0.996000	-0.012565	-0.022750	0.010184	0.480319	
0.997000	-0.009424	-0.019661	0.010237	0.480213	
0.998000	-0.006283	-0.016573	0.010290	0.480088	
0.999000	-0.003142	-0.013483	0.010342	0.479945	
1.000000	0.000000	-0.010393	0.010393	0.479782	
1.001000	0.003142	-0.007303	0.010444	0.479600	
1.002000	0.006283	-0.004212	0.010495	0.479399	
1.003000	0.009424	-0.001121	0.010545	0.479180	
1.004000	0.012565	0.001970	0.010595	0.478941	
1.005000	0.015705	0.005061	0.010644	0.478684	
1.006000	0.018845	0.008152	0.010693	0.478408	
1.007000	0.021984	0.011242	0.010742	0.478112	
1.008000	0.025122	0.014332	0.010790	0.477798	
1.009000	0.028259	0.017421	0.010838	0.477465	
1.010000	0.031395	0.020510	0.010885	0.477114	
1.011000	0.034530	0.023598	0.010932	0.476743	
1.012000	0.037663	0.026685	0.010979	0.476354	
1.013000	0.040795	0.029771	0.011025	0.475945	
1.014000	0.043926	0.032855	0.011070	0.475518	
1.015000	0.047054	0.035939	0.011115	0.475072	
1.016000	0.050181	0.039021	0.011160	0.474608	
1.017000	0.053306	0.042101	0.011204	0.474125	
1.018000	0.056428	0.045180	0.011248	0.473623	
1.019000	0.059549	0.048257	0.011291	0.473102	
1.020000	0.062667	0.051332	0.011334	0.472562	
1.021000	0.065782	0.054405	0.011377	0.472004	
1.022000	0.068895	0.057476	0.011419	0.471428	
1.023000	0.072005	0.060545	0.011460	0.470832	
1.024000	0.075113	0.063611	0.011501	0.470218	
1.025000	0.078217	0.066675	0.011542	0.469586	
1.026000	0.081319	0.069736	0.011582	0.468935	
1.027000	0.084417	0.072795	0.011622	0.468265	
1.028000	0.087512	0.075850	0.011661	0.467577	
1.029000	0.090603	0.078903	0.011700	0.466871	
1.030000	0.093691	0.081952	0.011738	0.466146	
1.031000	0.096775	0.084998	0.011776	0.465403	
1.032000	0.099855	0.088041	0.011814	0.464641	
1.033000	0.102931	0.091081	0.011851	0.463861	
1.034000	0.106004	0.094116	0.011887	0.463063	
1.035000	0.109072	0.097148	0.011923	0.462246	
1.036000	0.112135	0.100177	0.011959	0.461411	
1.037000	0.115195	0.103201	0.011994	0.460558	
1.038000	0.118249	0.106221	0.012028	0.459687	
1.039000	0.121300	0.109237	0.012062	0.458797	
1.040000	0.124345	0.112249	0.012096	0.457890	
1.041000	0.127385	0.115256	0.012129	0.456964	
1.042000	0.130421	0.118259	0.012162	0.456020	
1.043000	0.133451	0.121257	0.012194	0.455059	
1.044000	0.136476	0.124250	0.012226	0.454079	
1.045000	0.139496	0.127238	0.012257	0.453082	
1.046000	0.142510	0.130222	0.012288	0.452066	
1.047000	0.145518	0.133200	0.012318	0.451033	
1.048000	0.148521	0.136173	0.012348	0.449982	
1.049000	0.151518	0.139141	0.012377	0.448913	
1.050000	0.154508	0.142103	0.012406	0.447826	
1.051000	0.157493	0.145059	0.012434	0.446722	
1.052000	0.160472	0.148010	0.012462	0.445600	
1.053000	0.163444	0.150955	0.012489	0.444461	
1.054000	0.166410	0.153894	0.012516	0.443304	
1.055000	0.169369	0.156827	0.012542	0.442129	
1.056000	0.172321	0.159753	0.012568	0.440937	
1.057000	0.175267	0.162674	0.012594	0.439728	
1.058000	0.178206	0.165588	0.012618	0.438501	
1.059000	0.181138	0.168495	0.012643	0.437257	
1.060000	0.184062	0.171396	0.012667	0.435995	
1.061000	0.186980	0.174290	0.012690	0.434717	
1.062000	0.189890	0.177177	0.012713	0.433421	
1.063000	0.192792	0.180057	0.012735	0.432108	
1.064000	0.195687	0.182930	0.012757	0.430778	
1.065000	0.198574	0.185796	0.012778	0.429431	
1.066000	0.201453	0.188654	0.012799	0.428068	
1.067000	0.204325	0.191505	0.012819	0.426687	
1.068000	0.207188	0.194349	0.012839	0.425289	
1.069000	0.210043	0.197185	0.012858	0.423875	
1.070000	0.212890	0.200013	0.012877	0.422444	
1.071000	0.215728	0.202833	0.012895	0.420996	
1.072000	0.218558	0.205645	0.012913	0.419531	
1.073000	0.221379	0.208449	0.012930	0.418050	
1.074000	0.224192	0.211245	0.012947	0.416553	
1.075000	0.226995	0.214032	0.012963	0.415039	
1.076000	0.229790	0.216811	0.012979	0.413509	
1.077000	0.232576	0.219581	0.012994	0.411962	
1.078000	0.235352	0.222343	0.013009	0.410399	
1.079000	0.238119	0.225096	0.013023	0.408820