error1.txt

第一步：采用PID控制

0.264000	0.498067	0.788029	-0.289963	5.463932	
0.265000	0.497781	0.784950	-0.287169	5.863862	
0.266000	0.497476	0.781789	-0.284313	6.273410	
0.267000	0.497150	0.778544	-0.281394	6.691390	
0.268000	0.496806	0.775215	-0.278409	7.116617	
0.269000	0.496441	0.771799	-0.275358	7.547912	
0.270000	0.496057	0.768298	-0.272240	7.984106	
0.271000	0.495654	0.764708	-0.269055	8.424041	
0.272000	0.495231	0.761032	-0.265801	8.866578	
0.273000	0.494788	0.757267	-0.262479	9.310595	
0.274000	0.494326	0.753415	-0.259089	9.754993	
0.275000	0.493844	0.749475	-0.255631	10.198702	
0.276000	0.493343	0.745449	-0.252106	10.640675	
0.277000	0.492822	0.741336	-0.248514	11.079900	
0.278000	0.492282	0.737138	-0.244856	11.515397	
0.279000	0.491723	0.732856	-0.241134	11.946223	
0.280000	0.491144	0.728492	-0.237348	12.371470	
0.281000	0.490545	0.724046	-0.233501	12.790274	
0.282000	0.489928	0.719520	-0.229593	13.201810	
0.283000	0.489290	0.714917	-0.225626	13.605295	
0.284000	0.488634	0.710237	-0.221603	13.999993	
0.285000	0.487958	0.705484	-0.217526	14.385213	
0.286000	0.487263	0.700659	-0.213396	14.760310	
0.287000	0.486549	0.695765	-0.209215	15.124686	
0.288000	0.485816	0.690804	-0.204988	15.477794	
0.289000	0.485063	0.685778	-0.200715	15.819132	
0.290000	0.484292	0.680691	-0.196399	16.148250	
0.291000	0.483501	0.675544	-0.192044	16.464747	
0.292000	0.482691	0.670342	-0.187651	16.768268	
0.293000	0.481862	0.665086	-0.183224	17.058510	
0.294000	0.481014	0.659779	-0.178765	17.335219	
0.295000	0.480147	0.654424	-0.174278	17.598187	
0.296000	0.479261	0.649025	-0.169764	17.847254	
0.297000	0.478356	0.643584	-0.165228	18.082308	
0.298000	0.477432	0.638104	-0.160672	18.303282	
0.299000	0.476490	0.632588	-0.156098	18.510154	
0.300000	0.475528	0.627039	-0.151511	18.702946	
0.301000	0.474548	0.621460	-0.146912	18.881722	
0.302000	0.473549	0.615853	-0.142304	19.046587	
0.303000	0.472532	0.610223	-0.137691	19.197687	
0.304000	0.471495	0.604570	-0.133075	19.335205	
0.305000	0.470440	0.598899	-0.128459	19.459359	
0.306000	0.469367	0.593212	-0.123845	19.570405	
0.307000	0.468275	0.587511	-0.119236	19.668630	
0.308000	0.467164	0.581799	-0.114635	19.754353	
0.309000	0.466036	0.576079	-0.110044	19.827922	
0.310000	0.464888	0.570353	-0.105465	19.889711	
0.311000	0.463723	0.564623	-0.100901	19.940122	
0.312000	0.462539	0.558892	-0.096353	19.979579	
0.313000	0.461336	0.553161	-0.091825	20.008527	
0.314000	0.460116	0.547434	-0.087318	20.027431	
0.315000	0.458877	0.541710	-0.082833	20.036774	
0.316000	0.457621	0.535994	-0.078373	20.037053	
0.317000	0.456346	0.530285	-0.073939	20.028779	
0.318000	0.455053	0.524586	-0.069533	20.012474	
0.319000	0.453742	0.518899	-0.065156	19.988669	
0.320000	0.452414	0.513224	-0.060810	19.957903	
0.321000	0.451067	0.507563	-0.056496	19.920719	
0.322000	0.449703	0.501917	-0.052215	19.877664	
0.323000	0.448321	0.496288	-0.047967	19.829287	
0.324000	0.446921	0.490675	-0.043754	19.776136	
0.325000	0.445503	0.485080	-0.039577	19.718756	
0.326000	0.444068	0.479504	-0.035436	19.657691	
0.327000	0.442616	0.473948	-0.031332	19.593476	
0.328000	0.441146	0.468410	-0.027265	19.526640	
0.329000	0.439658	0.462893	-0.023235	19.457705	
0.330000	0.438153	0.457396	-0.019243	19.387181	
0.331000	0.436631	0.451920	-0.015289	19.315566	
0.332000	0.435092	0.446464	-0.011372	19.243347	
0.333000	0.433535	0.441029	-0.007493	19.170995	
0.334000	0.431962	0.435614	-0.003652	19.098967	
0.335000	0.430371	0.430219	0.000152	19.027702	
0.336000	0.428763	0.424844	0.003919	18.957624	
0.337000	0.427139	0.419489	0.007650	18.889136	
0.338000	0.425497	0.414153	0.011344	18.822624	
0.339000	0.423839	0.408835	0.015004	18.758453	
0.340000	0.422164	0.403535	0.018629	18.696968	
0.341000	0.420472	0.398253	0.022219	18.638491	
0.342000	0.418764	0.392987	0.025777	18.583325	
0.343000	0.417039	0.387737	0.029302	18.531749	
0.344000	0.415298	0.382502	0.032796	18.484021	
0.345000	0.413540	0.377281	0.036260	18.440376	
0.346000	0.411766	0.372073	0.039694	18.401024	
0.347000	0.409976	0.366877	0.043099	18.366155	
0.348000	0.408170	0.361693	0.046477	18.335935	
0.349000	0.406347	0.356518	0.049829	18.310507	
0.350000	0.404508	0.351354	0.053155	18.289991	
0.351000	0.402654	0.346197	0.056457	18.274486	
0.352000	0.400783	0.341047	0.059737	18.264066	
0.353000	0.398897	0.335903	0.062994	18.258786	
0.354000	0.396995	0.330764	0.066231	18.258679	
0.355000	0.395078	0.325630	0.069448	18.263754	
0.356000	0.393144	0.320497	0.072647	18.274004	
0.357000	0.391195	0.315367	0.075828	18.289398	
0.358000	0.389231	0.310238	0.078994	18.309888	
0.359000	0.387252	0.305108	0.082144	18.335407	
0.360000	0.385257	0.299976	0.085280	18.365871	
0.361000	0.383247	0.294843	0.088404	18.401176	
0.362000	0.381221	0.289706	0.091516	18.441204	
0.363000	0.379181	0.284565	0.094616	18.485821	
0.364000	0.377126	0.279418	0.097707	18.534877	
0.365000	0.375056	0.274266	0.100789	18.588211	
0.366000	0.372971	0.269107	0.103864	18.645645	
0.367000	0.370871	0.263940	0.106931	18.706993	
0.368000	0.368757	0.258765	0.109991	18.772055	
0.369000	0.366628	0.253581	0.113046	18.840622	
0.370000	0.364484	0.248388	0.116097	18.912475	
0.371000	0.362327	0.243183	0.119143	18.987389	
0.372000	0.360155	0.237969	0.122186	19.065129	
0.373000	0.357968	0.232742	0.125226	19.145455	
0.374000	0.355768	0.227504	0.128264	19.228120	
0.375000	0.353553	0.222254	0.131299	19.312876	
0.376000	0.351325	0.216991	0.134334	19.399467	
0.377000	0.349083	0.211716	0.137367	19.487639	
0.378000	0.346827	0.206427	0.140400	19.577131	
0.379000	0.344557	0.201125	0.143432	19.667687	
0.380000	0.342274	0.195809	0.146464	19.759046	
0.381000	0.339977	0.190480	0.149496	19.850950	
0.382000	0.337666	0.185138	0.152528	19.943144	
0.383000	0.335343	0.179782	0.155561	20.035373	
0.384000	0.333006	0.174413	0.158593	20.127387	
0.385000	0.330656	0.169030	0.161626	20.218938	
0.386000	0.328293	0.163634	0.164659	20.309786	
0.387000	0.325917	0.158226	0.167691	20.399693	
0.388000	0.323528	0.152804	0.170724	20.488428	
0.389000	0.321126	0.147371	0.173756	20.575766	
0.390000	0.318712	0.141925	0.176787	20.661492	
0.391000	0.316285	0.136468	0.179817	20.745395	
0.392000	0.313846	0.131000	0.182846	20.827274	
0.393000	0.311394	0.125521	0.185873	20.906936	
0.394000	0.308930	0.120032	0.188897	20.984196	
0.395000	0.306454	0.114534	0.191920	21.058880	
0.396000	0.303965	0.109027	0.194939	21.130823	
0.397000	0.301465	0.103511	0.197954	21.199870	
0.398000	0.298952	0.097988	0.200965	21.265875	
0.399000	0.296428	0.092457	0.203971	21.328704	
0.400000	0.293893	0.086920	0.206972	21.388232	
0.401000	0.291345	0.081378	0.209967	21.444345	
0.402000	0.288786	0.075831	0.212956	21.496942	
0.403000	0.286216	0.070279	0.215937	21.545929	
0.404000	0.283634	0.064725	0.218910	21.591224	
0.405000	0.281042	0.059167	0.221874	21.632758	
0.406000	0.278438	0.053608	0.224829	21.670470	
0.407000	0.275823	0.048048	0.227775	21.704311	
0.408000	0.273197	0.042488	0.230709	21.734242	
0.409000	0.270561	0.036929	0.233632	21.760235	
0.410000	0.267913	0.031371	0.236543	21.782270	
0.411000	0.265256	0.025815	0.239441	21.800340	
0.412000	0.262587	0.020262	0.242325	21.814445	
0.413000	0.259909	0.014713	0.245195	21.824596	
0.414000	0.257220	0.009169	0.248050	21.830814	
0.415000	0.254521	0.003631	0.250890	21.833126	
0.416000	0.251812	-0.001901	0.253713	21.831571	
0.417000	0.249093	-0.007426	0.256519	21.826192	
0.418000	0.246364	-0.012944	0.259307	21.817044	
0.419000	0.243625	-0.018452	0.262077	21.804187	
0.420000	0.240877	-0.023952	0.264829	21.787689	
0.421000	0.238119	-0.029441	0.267560	21.767624	
0.422000	0.235352	-0.034920	0.270272	21.744073	
0.423000	0.232576	-0.040387	0.272962	21.717121	
0.424000	0.229790	-0.045842	0.275632	21.686861	
0.425000	0.226995	-0.051284	0.278279	21.653389	
0.426000	0.224192	-0.056713	0.280905	21.616807	
0.427000	0.221379	-0.062128	0.283507	21.577219	
0.428000	0.218558	-0.067528	0.286086	21.534733	
0.429000	0.215728	-0.072914	0.288642	21.489463	
0.430000	0.212890	-0.078283	0.291173	21.441523	
0.431000	0.210043	-0.083637	0.293680	21.391028	
0.432000	0.207188	-0.088974	0.296162	21.338099	
0.433000	0.204325	-0.094294	0.298618	21.282854	
0.434000	0.201453	-0.099596	0.301050	21.225416	
0.435000	0.198574	-0.104881	0.303455	21.165905	
0.436000	0.195687	-0.110147	0.305834	21.104443	
0.437000	0.192792	-0.115395	0.308187	21.041152	
0.438000	0.189890	-0.120624	0.310514	20.976152	
0.439000	0.186980	-0.125834	0.312813	20.909564	
0.440000	0.184062	-0.131024	0.315086	20.841506	
0.441000	0.181138	-0.136194	0.317332	20.772094	
0.442000	0.178206	-0.141345	0.319551	20.701443	
0.443000	0.175267	-0.146475	0.321742	20.629666	
0.444000	0.172321	-0.151585	0.323906	20.556872	
0.445000	0.169369	-0.156674	0.326043	20.483168	
0.446000	0.166410	-0.161743	0.328153	20.408658	
0.447000	0.163444	-0.166791	0.330235	20.333442	
0.448000	0.160472	-0.171818	0.332290	20.257616	
0.449000	0.157493	-0.176824	0.334318	20.181274	
0.450000	0.154508	-0.181810	0.336318	20.104502	
0.451000	0.151518	-0.186774	0.338291	20.027387	
0.452000	0.148521	-0.191717	0.340237	19.950008	
0.453000	0.145518	-0.196639	0.342157	19.872440	
0.454000	0.142510	-0.201540	0.344049	19.794754	
0.455000	0.139496	-0.206419	0.345915	19.717016	
0.456000	0.136476	-0.211278	0.347754	19.639287	
0.457000	0.133451	-0.216116	0.349567	19.561624	
0.458000	0.130421	-0.220933	0.351353	19.484078	
0.459000	0.127385	-0.225729	0.353114	19.406695	
0.460000	0.124345	-0.230504	0.354849	19.329517	
0.461000	0.121300	-0.235258	0.356558	19.252580	
0.462000	0.118249	-0.239992	0.358241	19.175916	
0.463000	0.115195	-0.244705	0.359900	19.099551	
0.464000	0.112135	-0.249397	0.361533	19.023508	
0.465000	0.109072	-0.254070	0.363141	18.947802	
0.466000	0.106004	-0.258721	0.364725	18.872447	
0.467000	0.102931	-0.263353	0.366284	18.797450	
0.468000	0.099855	-0.267965	0.367820	18.722813	
0.469000	0.096775	-0.272556	0.369331	18.648537	
0.470000	0.093691	-0.277128	0.370818	18.574615	
0.471000	0.090603	-0.281679	0.372282	18.501039	
0.472000	0.087512	-0.286211	0.373723	18.427793	
0.473000	0.084417	-0.290723	0.375140	18.354861	
0.474000	0.081319	-0.295216	0.376535	18.282222	
0.475000	0.078217	-0.299689	0.377906	18.209852	
0.476000	0.075113	-0.304143	0.379256	18.137722	
0.477000	0.072005	-0.308577	0.380583	18.065802	
0.478000	0.068895	-0.312992	0.381887	17.994058	
0.479000	0.065782	-0.317388	0.383170	17.922454	
0.480000	0.062667	-0.321764	0.384431	17.850951	
0.481000	0.059549	-0.326121	0.385670	17.779507	
0.482000	0.056428	-0.330459	0.386888	17.708080	
0.483000	0.053306	-0.334778	0.388084	17.636623	
0.484000	0.050181	-0.339078	0.389259	17.565091	
0.485000	0.047054	-0.343358	0.390412	17.493434	
0.486000	0.043926	-0.347619	0.391545	17.421604	
0.487000	0.040795	-0.351861	0.392656	17.349550	
0.488000	0.037663	-0.356084	0.393747	17.277219	
0.489000	0.034530	-0.360287	0.394817	17.204561	
0.490000	0.031395	-0.364471	0.395866	17.131523	
0.491000	0.028259	-0.368635	0.396894	17.058050	
0.492000	0.025122	-0.372780	0.397902	16.984092	
0.493000	0.021984	-0.376905	0.398889	16.909595	
0.494000	0.018845	-0.381010	0.399856	16.834507	
0.495000	0.015705	-0.385096	0.400801	16.758775	
0.496000	0.012565	-0.389161	0.401726	16.682348	
0.497000	0.009424	-0.393207	0.402631	16.605177	
0.498000	0.006283	-0.397232	0.403515	16.527210	
0.499000	0.003142	-0.401236	0.404378	16.448401	
0.500000	-0.000000	-0.405220	0.405220	16.368701	
0.501000	-0.003142	-0.409183	0.406042	16.288066	
0.502000	-0.006283	-0.413126	0.406843	16.206450	
0.503000	-0.009424	-0.417047	0.407623	16.123811	
0.504000	-0.012565	-0.420946	0.408381	16.040109	
0.505000	-0.015705	-0.424825	0.409119	15.955304	
0.506000	-0.018845	-0.428681	0.409836	15.869359	
0.507000	-0.021984	-0.432515	0.410531	15.782239	
0.508000	-0.025122	-0.436327	0.411205	15.693911	
0.509000	-0.028259	-0.440117	0.411858	15.604345	
0.510000	-0.031395	-0.443884	0.412488	15.513511	
0.511000	-0.034530	-0.447628	0.413098	15.421383	
0.512000	-0.037663	-0.451348	0.413685	15.327937	
0.513000	-0.040795	-0.455046	0.414250	15.233152	
0.514000	-0.043926	-0.458719	0.414794	15.137007	
0.515000	-0.047054	-0.462369	0.415315	15.039487	
0.516000	-0.050181	-0.465994	0.415813	14.940576	
0.517000	-0.053306	-0.469595	0.416289	14.840262	
0.518000	-0.056428	-0.473171	0.416743	14.738535	
0.519000	-0.059549	-0.476722	0.417173	14.635387	
0.520000	-0.062667	-0.480248	0.417581	14.530814	
0.521000	-0.065782	-0.483748	0.417966	14.424812	
0.522000	-0.068895	-0.487222	0.418327	14.317381	
0.523000	-0.072005	-0.490670	0.418665	14.208522	
0.524000	-0.075113	-0.494092	0.418979	14.098239	
0.525000	-0.078217	-0.497487	0.419270	13.986538	
0.526000	-0.081319	-0.500855	0.419537	13.873426	
0.527000	-0.084417	-0.504197	0.419780	13.758914