error2.txt

第一步：采用PID控制

0.798000	-0.477432	-0.477969	0.000537	-6.746945	
0.799000	-0.476490	-0.477111	0.000621	-6.841834	
0.800000	-0.475528	-0.476233	0.000705	-6.936650	
0.801000	-0.474548	-0.475337	0.000789	-7.031388	
0.802000	-0.473549	-0.474423	0.000874	-7.126045	
0.803000	-0.472532	-0.473490	0.000958	-7.220616	
0.804000	-0.471495	-0.472538	0.001043	-7.315099	
0.805000	-0.470440	-0.471568	0.001128	-7.409490	
0.806000	-0.469367	-0.470580	0.001213	-7.503784	
0.807000	-0.468275	-0.469573	0.001298	-7.597979	
0.808000	-0.467164	-0.468547	0.001383	-7.692070	
0.809000	-0.466036	-0.467504	0.001468	-7.786053	
0.810000	-0.464888	-0.466442	0.001553	-7.879926	
0.811000	-0.463723	-0.465361	0.001639	-7.973683	
0.812000	-0.462539	-0.464263	0.001724	-8.067322	
0.813000	-0.461336	-0.463146	0.001810	-8.160839	
0.814000	-0.460116	-0.462012	0.001896	-8.254231	
0.815000	-0.458877	-0.460859	0.001981	-8.347492	
0.816000	-0.457621	-0.459688	0.002067	-8.440621	
0.817000	-0.456346	-0.458499	0.002153	-8.533612	
0.818000	-0.455053	-0.457292	0.002239	-8.626463	
0.819000	-0.453742	-0.456068	0.002325	-8.719170	
0.820000	-0.452414	-0.454825	0.002411	-8.811729	
0.821000	-0.451067	-0.453565	0.002498	-8.904136	
0.822000	-0.449703	-0.452287	0.002584	-8.996388	
0.823000	-0.448321	-0.450991	0.002670	-9.088482	
0.824000	-0.446921	-0.449677	0.002757	-9.180412	
0.825000	-0.445503	-0.448346	0.002843	-9.272177	
0.826000	-0.444068	-0.446998	0.002930	-9.363772	
0.827000	-0.442616	-0.445632	0.003016	-9.455194	
0.828000	-0.441146	-0.444248	0.003103	-9.546439	
0.829000	-0.439658	-0.442847	0.003189	-9.637503	
0.830000	-0.438153	-0.441429	0.003276	-9.728383	
0.831000	-0.436631	-0.439994	0.003363	-9.819076	
0.832000	-0.435092	-0.438541	0.003449	-9.909577	
0.833000	-0.433535	-0.437071	0.003536	-9.999883	
0.834000	-0.431962	-0.435585	0.003623	-10.089991	
0.835000	-0.430371	-0.434081	0.003710	-10.179897	
0.836000	-0.428763	-0.432560	0.003796	-10.269598	
0.837000	-0.427139	-0.431022	0.003883	-10.359089	
0.838000	-0.425497	-0.429467	0.003970	-10.448368	
0.839000	-0.423839	-0.427896	0.004057	-10.537430	
0.840000	-0.422164	-0.426307	0.004144	-10.626273	
0.841000	-0.420472	-0.424703	0.004230	-10.714893	
0.842000	-0.418764	-0.423081	0.004317	-10.803286	
0.843000	-0.417039	-0.421443	0.004404	-10.891449	
0.844000	-0.415298	-0.419789	0.004491	-10.979379	
0.845000	-0.413540	-0.418118	0.004577	-11.067071	
0.846000	-0.411766	-0.416430	0.004664	-11.154523	
0.847000	-0.409976	-0.414727	0.004751	-11.241730	
0.848000	-0.408170	-0.413007	0.004838	-11.328691	
0.849000	-0.406347	-0.411271	0.004924	-11.415400	
0.850000	-0.404508	-0.409519	0.005011	-11.501856	
0.851000	-0.402654	-0.407751	0.005097	-11.588053	
0.852000	-0.400783	-0.405967	0.005184	-11.673989	
0.853000	-0.398897	-0.404168	0.005270	-11.759661	
0.854000	-0.396995	-0.402352	0.005357	-11.845065	
0.855000	-0.395078	-0.400521	0.005443	-11.930198	
0.856000	-0.393144	-0.398674	0.005530	-12.015056	
0.857000	-0.391195	-0.396811	0.005616	-12.099636	
0.858000	-0.389231	-0.394933	0.005702	-12.183935	
0.859000	-0.387252	-0.393040	0.005788	-12.267950	
0.860000	-0.385257	-0.391131	0.005874	-12.351676	
0.861000	-0.383247	-0.389207	0.005960	-12.435111	
0.862000	-0.381221	-0.387268	0.006046	-12.518252	
0.863000	-0.379181	-0.385313	0.006132	-12.601094	
0.864000	-0.377126	-0.383344	0.006218	-12.683636	
0.865000	-0.375056	-0.381359	0.006304	-12.765873	
0.866000	-0.372971	-0.379360	0.006389	-12.847803	
0.867000	-0.370871	-0.377346	0.006475	-12.929422	
0.868000	-0.368757	-0.375317	0.006560	-13.010727	
0.869000	-0.366628	-0.373273	0.006646	-13.091715	
0.870000	-0.364484	-0.371215	0.006731	-13.172382	
0.871000	-0.362327	-0.369143	0.006816	-13.252725	
0.872000	-0.360155	-0.367056	0.006901	-13.332742	
0.873000	-0.357968	-0.364954	0.006986	-13.412429	
0.874000	-0.355768	-0.362839	0.007071	-13.491782	
0.875000	-0.353553	-0.360709	0.007156	-13.570800	
0.876000	-0.351325	-0.358565	0.007240	-13.649478	
0.877000	-0.349083	-0.356407	0.007325	-13.727814	
0.878000	-0.346827	-0.354236	0.007409	-13.805804	
0.879000	-0.344557	-0.352050	0.007493	-13.883445	
0.880000	-0.342274	-0.349851	0.007577	-13.960735	
0.881000	-0.339977	-0.347638	0.007661	-14.037670	
0.882000	-0.337666	-0.345411	0.007745	-14.114247	
0.883000	-0.335343	-0.343171	0.007828	-14.190463	
0.884000	-0.333006	-0.340918	0.007912	-14.266316	
0.885000	-0.330656	-0.338651	0.007995	-14.341802	
0.886000	-0.328293	-0.336371	0.008078	-14.416918	
0.887000	-0.325917	-0.334078	0.008162	-14.491661	
0.888000	-0.323528	-0.331772	0.008244	-14.566028	
0.889000	-0.321126	-0.329453	0.008327	-14.640017	
0.890000	-0.318712	-0.327122	0.008410	-14.713625	
0.891000	-0.316285	-0.324777	0.008492	-14.786847	
0.892000	-0.313846	-0.322420	0.008574	-14.859683	
0.893000	-0.311394	-0.320050	0.008656	-14.932128	
0.894000	-0.308930	-0.317668	0.008738	-15.004180	
0.895000	-0.306454	-0.315273	0.008820	-15.075837	
0.896000	-0.303965	-0.312866	0.008901	-15.147094	
0.897000	-0.301465	-0.310447	0.008982	-15.217950	
0.898000	-0.298952	-0.308016	0.009064	-15.288402	
0.899000	-0.296428	-0.305573	0.009144	-15.358446	
0.900000	-0.293893	-0.303118	0.009225	-15.428081	
0.901000	-0.291345	-0.300651	0.009306	-15.497303	
0.902000	-0.288786	-0.298172	0.009386	-15.566109	
0.903000	-0.286216	-0.295682	0.009466	-15.634498	
0.904000	-0.283634	-0.293180	0.009546	-15.702465	
0.905000	-0.281042	-0.290667	0.009626	-15.770009	
0.906000	-0.278438	-0.288143	0.009705	-15.837127	
0.907000	-0.275823	-0.285607	0.009784	-15.903816	
0.908000	-0.273197	-0.283060	0.009863	-15.970074	
0.909000	-0.270561	-0.280503	0.009942	-16.035898	
0.910000	-0.267913	-0.277934	0.010021	-16.101285	
0.911000	-0.265256	-0.275355	0.010099	-16.166232	
0.912000	-0.262587	-0.272764	0.010177	-16.230738	
0.913000	-0.259909	-0.270164	0.010255	-16.294800	
0.914000	-0.257220	-0.267552	0.010332	-16.358415	
0.915000	-0.254521	-0.264931	0.010410	-16.421580	
0.916000	-0.251812	-0.262299	0.010487	-16.484294	
0.917000	-0.249093	-0.259656	0.010564	-16.546553	
0.918000	-0.246364	-0.257004	0.010640	-16.608355	
0.919000	-0.243625	-0.254342	0.010717	-16.669698	
0.920000	-0.240877	-0.251670	0.010793	-16.730580	
0.921000	-0.238119	-0.248988	0.010869	-16.790997	
0.922000	-0.235352	-0.246296	0.010944	-16.850948	
0.923000	-0.232576	-0.243595	0.011020	-16.910430	
0.924000	-0.229790	-0.240884	0.011095	-16.969441	
0.925000	-0.226995	-0.238165	0.011169	-17.027979	
0.926000	-0.224192	-0.235435	0.011244	-17.086041	
0.927000	-0.221379	-0.232697	0.011318	-17.143624	
0.928000	-0.218558	-0.229950	0.011392	-17.200727	
0.929000	-0.215728	-0.227194	0.011465	-17.257348	
0.930000	-0.212890	-0.224428	0.011539	-17.313484	
0.931000	-0.210043	-0.221655	0.011612	-17.369133	
0.932000	-0.207188	-0.218872	0.011685	-17.424292	
0.933000	-0.204325	-0.216082	0.011757	-17.478960	
0.934000	-0.201453	-0.213282	0.011829	-17.533134	
0.935000	-0.198574	-0.210475	0.011901	-17.586813	
0.936000	-0.195687	-0.207659	0.011973	-17.639994	
0.937000	-0.192792	-0.204836	0.012044	-17.692675	
0.938000	-0.189890	-0.202004	0.012115	-17.744853	
0.939000	-0.186980	-0.199165	0.012185	-17.796528	
0.940000	-0.184062	-0.196318	0.012256	-17.847697	
0.941000	-0.181138	-0.193463	0.012326	-17.898357	
0.942000	-0.178206	-0.190601	0.012395	-17.948507	
0.943000	-0.175267	-0.187732	0.012465	-17.998145	
0.944000	-0.172321	-0.184855	0.012534	-18.047269	
0.945000	-0.169369	-0.181971	0.012602	-18.095877	
0.946000	-0.166410	-0.179080	0.012671	-18.143968	
0.947000	-0.163444	-0.176183	0.012739	-18.191538	
0.948000	-0.160472	-0.173278	0.012806	-18.238586	
0.949000	-0.157493	-0.170367	0.012874	-18.285111	
0.950000	-0.154508	-0.167449	0.012941	-18.331111	
0.951000	-0.151518	-0.164525	0.013007	-18.376583	
0.952000	-0.148521	-0.161594	0.013073	-18.421526	
0.953000	-0.145518	-0.158657	0.013139	-18.465939	
0.954000	-0.142510	-0.155715	0.013205	-18.509818	
0.955000	-0.139496	-0.152766	0.013270	-18.553164	
0.956000	-0.136476	-0.149811	0.013335	-18.595974	
0.957000	-0.133451	-0.146850	0.013399	-18.638245	
0.958000	-0.130421	-0.143884	0.013464	-18.679978	
0.959000	-0.127385	-0.140913	0.013527	-18.721170	
0.960000	-0.124345	-0.137936	0.013591	-18.761819	
0.961000	-0.121300	-0.134953	0.013654	-18.801923	
0.962000	-0.118249	-0.131966	0.013716	-18.841482	
0.963000	-0.115195	-0.128973	0.013779	-18.880494	
0.964000	-0.112135	-0.125976	0.013841	-18.918956	
0.965000	-0.109072	-0.122974	0.013902	-18.956868	
0.966000	-0.106004	-0.119967	0.013963	-18.994229	
0.967000	-0.102931	-0.116955	0.014024	-19.031035	
0.968000	-0.099855	-0.113939	0.014084	-19.067287	
0.969000	-0.096775	-0.110919	0.014144	-19.102983	
0.970000	-0.093691	-0.107894	0.014204	-19.138121	
0.971000	-0.090603	-0.104866	0.014263	-19.172700	
0.972000	-0.087512	-0.101833	0.014322	-19.206719	
0.973000	-0.084417	-0.098797	0.014380	-19.240175	
0.974000	-0.081319	-0.095757	0.014438	-19.273069	
0.975000	-0.078217	-0.092713	0.014496	-19.305398	
0.976000	-0.075113	-0.089666	0.014553	-19.337161	
0.977000	-0.072005	-0.086615	0.014610	-19.368358	
0.978000	-0.068895	-0.083561	0.014666	-19.398986	
0.979000	-0.065782	-0.080504	0.014722	-19.429045	
0.980000	-0.062667	-0.077444	0.014777	-19.458534	
0.981000	-0.059549	-0.074381	0.014832	-19.487451	
0.982000	-0.056428	-0.071315	0.014887	-19.515794	
0.983000	-0.053306	-0.068247	0.014941	-19.543564	
0.984000	-0.050181	-0.065176	0.014995	-19.570759	
0.985000	-0.047054	-0.062103	0.015048	-19.597378	
0.986000	-0.043926	-0.059027	0.015101	-19.623419	
0.987000	-0.040795	-0.055949	0.015154	-19.648882	
0.988000	-0.037663	-0.052869	0.015206	-19.673766	
0.989000	-0.034530	-0.049788	0.015258	-19.698070	
0.990000	-0.031395	-0.046704	0.015309	-19.721793	
0.991000	-0.028259	-0.043619	0.015360	-19.744933	
0.992000	-0.025122	-0.040532	0.015410	-19.767491	
0.993000	-0.021984	-0.037444	0.015460	-19.789464	
0.994000	-0.018845	-0.034355	0.015509	-19.810853	
0.995000	-0.015705	-0.031264	0.015558	-19.831656	
0.996000	-0.012565	-0.028172	0.015607	-19.851873	
0.997000	-0.009424	-0.025079	0.015655	-19.871502	
0.998000	-0.006283	-0.021986	0.015703	-19.890543	
0.999000	-0.003142	-0.018892	0.015750	-19.908996	
1.000000	0.000000	-0.015797	0.015797	-19.926859	
1.001000	0.003142	-0.012701	0.015843	-19.944132	
1.002000	0.006283	-0.009606	0.015889	-19.960814	
1.003000	0.009424	-0.006510	0.015934	-19.976905	
1.004000	0.012565	-0.003414	0.015979	-19.992403	
1.005000	0.015705	-0.000318	0.016024	-20.007309	
1.006000	0.018845	0.002778	0.016068	-20.021621	
1.007000	0.021984	0.005873	0.016111	-20.035339	
1.008000	0.025122	0.008968	0.016154	-20.048463	
1.009000	0.028259	0.012063	0.016197	-20.060991	
1.010000	0.031395	0.015157	0.016239	-20.072924	
1.011000	0.034530	0.018250	0.016280	-20.084262	
1.012000	0.037663	0.021342	0.016321	-20.095003	
1.013000	0.040795	0.024433	0.016362	-20.105147	
1.014000	0.043926	0.027523	0.016402	-20.114693	
1.015000	0.047054	0.030612	0.016442	-20.123642	
1.016000	0.050181	0.033700	0.016481	-20.131994	
1.017000	0.053306	0.036786	0.016520	-20.139747	
1.018000	0.056428	0.039870	0.016558	-20.146901	
1.019000	0.059549	0.042953	0.016596	-20.153456	
1.020000	0.062667	0.046033	0.016633	-20.159412	
1.021000	0.065782	0.049112	0.016670	-20.164769	
1.022000	0.068895	0.052189	0.016706	-20.169527	
1.023000	0.072005	0.055263	0.016742	-20.173684	
1.024000	0.075113	0.058336	0.016777	-20.177242	
1.025000	0.078217	0.061405	0.016812	-20.180199	
1.026000	0.081319	0.064472	0.016846	-20.182556	
1.027000	0.084417	0.067537	0.016880	-20.184313	
1.028000	0.087512	0.070598	0.016913	-20.185470	
1.029000	0.090603	0.073657	0.016946	-20.186026	
1.030000	0.093691	0.076712	0.016979	-20.185982	
1.031000	0.096775	0.079764	0.017010	-20.185338	
1.032000	0.099855	0.082813	0.017042	-20.184093	
1.033000	0.102931	0.085859	0.017072	-20.182247	
1.034000	0.106004	0.088901	0.017103	-20.179802	
1.035000	0.109072	0.091939	0.017132	-20.176756	
1.036000	0.112135	0.094974	0.017162	-20.173110	
1.037000	0.115195	0.098004	0.017190	-20.168864	
1.038000	0.118249	0.101031	0.017219	-20.164019	
1.039000	0.121300	0.104053	0.017246	-20.158574	
1.040000	0.124345	0.107071	0.017274	-20.152529	
1.041000	0.127385	0.110085	0.017300	-20.145886	
1.042000	0.130421	0.113094	0.017326	-20.138643	
1.043000	0.133451	0.116099	0.017352	-20.130803	
1.044000	0.136476	0.119099	0.017377	-20.122363	
1.045000	0.139496	0.122094	0.017402	-20.113326	
1.046000	0.142510	0.125084	0.017426	-20.103692	
1.047000	0.145518	0.128069	0.017449	-20.093460	
1.048000	0.148521	0.131048	0.017472	-20.082632	
1.049000	0.151518	0.134023	0.017495	-20.071207	
1.050000	0.154508	0.136992	0.017517	-20.059186	
1.051000	0.157493	0.139955	0.017538	-20.046570	
1.052000	0.160472	0.142912	0.017559	-20.033359	
1.053000	0.163444	0.145864	0.017580	-20.019553	
1.054000	0.166410	0.148810	0.017600	-20.005154	
1.055000	0.169369	0.151750	0.017619	-19.990162	
1.056000	0.172321	0.154684	0.017638	-19.974576	
1.057000	0.175267	0.157611	0.017656	-19.958399	
1.058000	0.178206	0.160532	0.017674	-19.941630	
1.059000	0.181138	0.163447	0.017691	-19.924271	
1.060000	0.184062	0.166354	0.017708	-19.906321	
1.061000	0.186980	0.169256	0.017724	-19.887782	
1.062000	0.189890	0.172150	0.017740	-19.868655	
1.063000	0.192792	0.175037	0.017755	-19.848939