error.txt

第一步：采用PID控制

1.080000	0.240877	0.227840	0.013037	0.407225	
1.081000	0.243625	0.230575	0.013050	0.405613	
1.082000	0.246364	0.233301	0.013062	0.403986	
1.083000	0.249093	0.236018	0.013075	0.402343	
1.084000	0.251812	0.238725	0.013086	0.400683	
1.085000	0.254521	0.241424	0.013097	0.399008	
1.086000	0.257220	0.244112	0.013108	0.397318	
1.087000	0.259909	0.246791	0.013118	0.395611	
1.088000	0.262587	0.249460	0.013127	0.393889	
1.089000	0.265256	0.252119	0.013136	0.392152	
1.090000	0.267913	0.254769	0.013145	0.390398	
1.091000	0.270561	0.257408	0.013153	0.388630	
1.092000	0.273197	0.260037	0.013160	0.386846	
1.093000	0.275823	0.262656	0.013167	0.385047	
1.094000	0.278438	0.265264	0.013173	0.383233	
1.095000	0.281042	0.267862	0.013179	0.381403	
1.096000	0.283634	0.270450	0.013185	0.379559	
1.097000	0.286216	0.273027	0.013189	0.377699	
1.098000	0.288786	0.275593	0.013194	0.375825	
1.099000	0.291345	0.278148	0.013197	0.373935	
1.100000	0.293893	0.280692	0.013201	0.372031	
1.101000	0.296428	0.283225	0.013203	0.370113	
1.102000	0.298952	0.285747	0.013206	0.368179	
1.103000	0.301465	0.288257	0.013207	0.366231	
1.104000	0.303965	0.290757	0.013209	0.364269	
1.105000	0.306454	0.293244	0.013209	0.362292	
1.106000	0.308930	0.295721	0.013209	0.360301	
1.107000	0.311394	0.298185	0.013209	0.358296	
1.108000	0.313846	0.300638	0.013208	0.356277	
1.109000	0.316285	0.303079	0.013207	0.354243	
1.110000	0.318712	0.305507	0.013205	0.352196	
1.111000	0.321126	0.307924	0.013202	0.350135	
1.112000	0.323528	0.310329	0.013199	0.348059	
1.113000	0.325917	0.312721	0.013195	0.345971	
1.114000	0.328293	0.315101	0.013191	0.343868	
1.115000	0.330656	0.317469	0.013187	0.341752	
1.116000	0.333006	0.319824	0.013182	0.339622	
1.117000	0.335343	0.322167	0.013176	0.337479	
1.118000	0.337666	0.324496	0.013170	0.335323	
1.119000	0.339977	0.326813	0.013163	0.333153	
1.120000	0.342274	0.329117	0.013156	0.330970	
1.121000	0.344557	0.331408	0.013148	0.328775	
1.122000	0.346827	0.333686	0.013140	0.326566	
1.123000	0.349083	0.335951	0.013131	0.324344	
1.124000	0.351325	0.338203	0.013122	0.322110	
1.125000	0.353553	0.340441	0.013112	0.319862	
1.126000	0.355768	0.342666	0.013102	0.317603	
1.127000	0.357968	0.344877	0.013091	0.315330	
1.128000	0.360155	0.347075	0.013080	0.313045	
1.129000	0.362327	0.349258	0.013068	0.310748	
1.130000	0.364484	0.351429	0.013056	0.308439	
1.131000	0.366628	0.353585	0.013043	0.306117	
1.132000	0.368757	0.355727	0.013029	0.303783	
1.133000	0.370871	0.357855	0.013015	0.301438	
1.134000	0.372971	0.359970	0.013001	0.299080	
1.135000	0.375056	0.362069	0.012986	0.296711	
1.136000	0.377126	0.364155	0.012971	0.294330	
1.137000	0.379181	0.366226	0.012955	0.291937	
1.138000	0.381221	0.368283	0.012938	0.289532	
1.139000	0.383247	0.370325	0.012921	0.287117	
1.140000	0.385257	0.372353	0.012904	0.284690	
1.141000	0.387252	0.374366	0.012886	0.282251	
1.142000	0.389231	0.376364	0.012867	0.279802	
1.143000	0.391195	0.378347	0.012848	0.277341	
1.144000	0.393144	0.380316	0.012829	0.274870	
1.145000	0.395078	0.382269	0.012808	0.272388	
1.146000	0.396995	0.384207	0.012788	0.269895	
1.147000	0.398897	0.386130	0.012767	0.267391	
1.148000	0.400783	0.388038	0.012745	0.264877	
1.149000	0.402654	0.389931	0.012723	0.262352	
1.150000	0.404508	0.391808	0.012701	0.259817	
1.151000	0.406347	0.393670	0.012678	0.257272	
1.152000	0.408170	0.395516	0.012654	0.254716	
1.153000	0.409976	0.397346	0.012630	0.252151	
1.154000	0.411766	0.399161	0.012605	0.249575	
1.155000	0.413540	0.400960	0.012580	0.246990	
1.156000	0.415298	0.402743	0.012555	0.244395	
1.157000	0.417039	0.404511	0.012529	0.241790	
1.158000	0.418764	0.406262	0.012502	0.239176	
1.159000	0.420472	0.407997	0.012475	0.236552	
1.160000	0.422164	0.409717	0.012447	0.233919	
1.161000	0.423839	0.411420	0.012419	0.231277	
1.162000	0.425497	0.413106	0.012391	0.228625	
1.163000	0.427139	0.414777	0.012362	0.225965	
1.164000	0.428763	0.416431	0.012332	0.223295	
1.165000	0.430371	0.418069	0.012302	0.220617	
1.166000	0.431962	0.419690	0.012272	0.217930	
1.167000	0.433535	0.421295	0.012241	0.215235	
1.168000	0.435092	0.422883	0.012209	0.212531	
1.169000	0.436631	0.424454	0.012177	0.209818	
1.170000	0.438153	0.426008	0.012145	0.207098	
1.171000	0.439658	0.427546	0.012112	0.204369	
1.172000	0.441146	0.429067	0.012079	0.201632	
1.173000	0.442616	0.430571	0.012045	0.198887	
1.174000	0.444068	0.432058	0.012010	0.196134	
1.175000	0.445503	0.433528	0.011976	0.193374	
1.176000	0.446921	0.434980	0.011940	0.190605	
1.177000	0.448321	0.436416	0.011905	0.187830	
1.178000	0.449703	0.437834	0.011868	0.185047	
1.179000	0.451067	0.439235	0.011832	0.182256	
1.180000	0.452414	0.440619	0.011794	0.179459	
1.181000	0.453742	0.441985	0.011757	0.176654	
1.182000	0.455053	0.443334	0.011719	0.173843	
1.183000	0.456346	0.444666	0.011680	0.171024	
1.184000	0.457621	0.445979	0.011641	0.168199	
1.185000	0.458877	0.447276	0.011602	0.165367	
1.186000	0.460116	0.448554	0.011562	0.162528	
1.187000	0.461336	0.449815	0.011521	0.159684	
1.188000	0.462539	0.451058	0.011480	0.156833	
1.189000	0.463723	0.452283	0.011439	0.153975	
1.190000	0.464888	0.453491	0.011397	0.151112	
1.191000	0.466036	0.454680	0.011355	0.148242	
1.192000	0.467164	0.455852	0.011313	0.145367	
1.193000	0.468275	0.457006	0.011269	0.142486	
1.194000	0.469367	0.458141	0.011226	0.139600	
1.195000	0.470440	0.459259	0.011182	0.136708	
1.196000	0.471495	0.460358	0.011137	0.133810	
1.197000	0.472532	0.461439	0.011093	0.130907	
1.198000	0.473549	0.462502	0.011047	0.127999	
1.199000	0.474548	0.463547	0.011001	0.125086	
1.200000	0.475528	0.464573	0.010955	0.122168	
1.201000	0.476490	0.465581	0.010909	0.119246	
1.202000	0.477432	0.466571	0.010862	0.116318	
1.203000	0.478356	0.467542	0.010814	0.113386	
1.204000	0.479261	0.468495	0.010766	0.110449	
1.205000	0.480147	0.469429	0.010718	0.107509	
1.206000	0.481014	0.470345	0.010669	0.104563	
1.207000	0.481862	0.471242	0.010620	0.101614	
1.208000	0.482691	0.472121	0.010570	0.098661	
1.209000	0.483501	0.472980	0.010520	0.095704	
1.210000	0.484292	0.473822	0.010470	0.092743	
1.211000	0.485063	0.474644	0.010419	0.089778	
1.212000	0.485816	0.475448	0.010368	0.086810	
1.213000	0.486549	0.476233	0.010316	0.083838	
1.214000	0.487263	0.476999	0.010264	0.080863	
1.215000	0.487958	0.477747	0.010211	0.077885	
1.216000	0.488634	0.478475	0.010159	0.074904	
1.217000	0.489290	0.479185	0.010105	0.071920	
1.218000	0.489928	0.479876	0.010052	0.068933	
1.219000	0.490545	0.480548	0.009998	0.065943	
1.220000	0.491144	0.481201	0.009943	0.062951	
1.221000	0.491723	0.481834	0.009888	0.059956	
1.222000	0.492282	0.482449	0.009833	0.056959	
1.223000	0.492822	0.483045	0.009777	0.053960	
1.224000	0.493343	0.483622	0.009721	0.050958	
1.225000	0.493844	0.484179	0.009665	0.047955	
1.226000	0.494326	0.484718	0.009608	0.044949	
1.227000	0.494788	0.485237	0.009551	0.041942	
1.228000	0.495231	0.485738	0.009493	0.038933	
1.229000	0.495654	0.486219	0.009435	0.035923	
1.230000	0.496057	0.486680	0.009377	0.032911	
1.231000	0.496441	0.487123	0.009318	0.029898	
1.232000	0.496806	0.487546	0.009259	0.026883	
1.233000	0.497150	0.487951	0.009200	0.023868	
1.234000	0.497476	0.488336	0.009140	0.020852	
1.235000	0.497781	0.488701	0.009080	0.017834	
1.236000	0.498067	0.489047	0.009019	0.014817	
1.237000	0.498333	0.489374	0.008958	0.011798	
1.238000	0.498579	0.489682	0.008897	0.008779	
1.239000	0.498806	0.489971	0.008836	0.005760	
1.240000	0.499013	0.490240	0.008774	0.002741	
1.241000	0.499201	0.490489	0.008712	-0.000279	
1.242000	0.499368	0.490720	0.008649	-0.003299	
1.243000	0.499516	0.490930	0.008586	-0.006318	
1.244000	0.499645	0.491122	0.008523	-0.009337	
1.245000	0.499753	0.491294	0.008459	-0.012356	
1.246000	0.499842	0.491447	0.008395	-0.015374	
1.247000	0.499911	0.491580	0.008331	-0.018392	
1.248000	0.499961	0.491694	0.008266	-0.021409	
1.249000	0.499990	0.491789	0.008201	-0.024425	
1.250000	0.500000	0.491864	0.008136	-0.027440	
1.251000	0.499990	0.491920	0.008070	-0.030454	
1.252000	0.499961	0.491956	0.008004	-0.033467	
1.253000	0.499911	0.491973	0.007938	-0.036479	
1.254000	0.499842	0.491970	0.007872	-0.039489	
1.255000	0.499753	0.491948	0.007805	-0.042498	
1.256000	0.499645	0.491907	0.007738	-0.045505	
1.257000	0.499516	0.491846	0.007670	-0.048510	
1.258000	0.499368	0.491766	0.007602	-0.051513	
1.259000	0.499201	0.491666	0.007534	-0.054514	
1.260000	0.499013	0.491547	0.007466	-0.057513	
1.261000	0.498806	0.491409	0.007397	-0.060510	
1.262000	0.498579	0.491251	0.007328	-0.063504	
1.263000	0.498333	0.491074	0.007259	-0.066496	
1.264000	0.498067	0.490877	0.007190	-0.069485	
1.265000	0.497781	0.490661	0.007120	-0.072472	
1.266000	0.497476	0.490426	0.007050	-0.075455	
1.267000	0.497150	0.490171	0.006979	-0.078436	
1.268000	0.496806	0.489897	0.006909	-0.081414	
1.269000	0.496441	0.489604	0.006838	-0.084388	
1.270000	0.496057	0.489291	0.006767	-0.087359	
1.271000	0.495654	0.488959	0.006695	-0.090326	
1.272000	0.495231	0.488607	0.006623	-0.093290	
1.273000	0.494788	0.488237	0.006551	-0.096251	
1.274000	0.494326	0.487847	0.006479	-0.099207	
1.275000	0.493844	0.487438	0.006407	-0.102160	
1.276000	0.493343	0.487009	0.006334	-0.105108	
1.277000	0.492822	0.486562	0.006261	-0.108053	
1.278000	0.492282	0.486095	0.006188	-0.110993	
1.279000	0.491723	0.485609	0.006114	-0.113929	
1.280000	0.491144	0.485103	0.006040	-0.116860	
1.281000	0.490545	0.484579	0.005966	-0.119787	
1.282000	0.489928	0.484035	0.005892	-0.122708	
1.283000	0.489290	0.483473	0.005818	-0.125626	
1.284000	0.488634	0.482891	0.005743	-0.128538	
1.285000	0.487958	0.482290	0.005668	-0.131445	
1.286000	0.487263	0.481671	0.005593	-0.134347	
1.287000	0.486549	0.481032	0.005518	-0.137243	
1.288000	0.485816	0.480374	0.005442	-0.140134	
1.289000	0.485063	0.479697	0.005366	-0.143020	
1.290000	0.484292	0.479001	0.005290	-0.145900	
1.291000	0.483501	0.478287	0.005214	-0.148774	
1.292000	0.482691	0.477553	0.005138	-0.151642	
1.293000	0.481862	0.476801	0.005061	-0.154505	
1.294000	0.481014	0.476030	0.004984	-0.157361	
1.295000	0.480147	0.475240	0.004907	-0.160211	
1.296000	0.479261	0.474431	0.004830	-0.163055	
1.297000	0.478356	0.473604	0.004752	-0.165892	
1.298000	0.477432	0.472757	0.004675	-0.168723	
1.299000	0.476490	0.471893	0.004597	-0.171547	
1.300000	0.475528	0.471009	0.004519	-0.174364	
1.301000	0.474548	0.470107	0.004441	-0.177174	
1.302000	0.473549	0.469186	0.004363	-0.179978	
1.303000	0.472532	0.468247	0.004284	-0.182774	
1.304000	0.471495	0.467290	0.004206	-0.185563	
1.305000	0.470440	0.466314	0.004127	-0.188345	
1.306000	0.469367	0.465319	0.004048	-0.191119	
1.307000	0.468275	0.464306	0.003969	-0.193886	
1.308000	0.467164	0.463275	0.003889	-0.196645	
1.309000	0.466036	0.462226	0.003810	-0.199396	
1.310000	0.464888	0.461158	0.003730	-0.202140	
1.311000	0.463723	0.460072	0.003651	-0.204875	
1.312000	0.462539	0.458968	0.003571	-0.207603	
1.313000	0.461336	0.457846	0.003491	-0.210322	
1.314000	0.460116	0.456706	0.003410	-0.213033	
1.315000	0.458877	0.455547	0.003330	-0.215736	
1.316000	0.457621	0.454371	0.003250	-0.218430	
1.317000	0.456346	0.453177	0.003169	-0.221115	
1.318000	0.455053	0.451965	0.003088	-0.223792	
1.319000	0.453742	0.450735	0.003008	-0.226459	
1.320000	0.452414	0.449487	0.002927	-0.229118	
1.321000	0.451067	0.448221	0.002846	-0.231768	
1.322000	0.449703	0.446938	0.002764	-0.234409	
1.323000	0.448321	0.445637	0.002683	-0.237040	
1.324000	0.446921	0.444319	0.002602	-0.239662	
1.325000	0.445503	0.442983	0.002520	-0.242275	
1.326000	0.444068	0.441630	0.002439	-0.244878	
1.327000	0.442616	0.440259	0.002357	-0.247471	
1.328000	0.441146	0.438870	0.002275	-0.250055	
1.329000	0.439658	0.437465	0.002193	-0.252629	
1.330000	0.438153	0.436042	0.002111	-0.255192	
1.331000	0.436631	0.434602	0.002029	-0.257746	
1.332000	0.435092	0.433145	0.001947	-0.260290	
1.333000	0.433535	0.431670	0.001865	-0.262823	
1.334000	0.431962	0.430179	0.001783	-0.265346	
1.335000	0.430371	0.428671	0.001700	-0.267858	
1.336000	0.428763	0.427145	0.001618	-0.270360	
1.337000	0.427139	0.425603	0.001536	-0.272851	
1.338000	0.425497	0.424044	0.001453	-0.275331	
1.339000	0.423839	0.422469	0.001370	-0.277801	
1.340000	0.422164	0.420876	0.001288	-0.280259	
1.341000	0.420472	0.419267	0.001205	-0.282707	
1.342000	0.418764	0.417642	0.001122	-0.285143	
1.343000	0.417039	0.416000	0.001040	-0.287568	
1.344000	0.415298	0.414341	0.000957	-0.289982	
1.345000	0.413540	0.412666	0.000874	-0.292384	
1.346000	0.411766	0.410975	0.000791	-0.294775	
1.347000	0.409976	0.409268	0.000708	-0.297154	
1.348000	0.408170	0.407545	0.000625	-0.299521	
1.3490