error1.txt

第一步：采用PID控制

0.528000	-0.087512	-0.507510	0.419999	13.643013	
0.529000	-0.090603	-0.510796	0.420193	13.525736	
0.530000	-0.093691	-0.514054	0.420364	13.407100	
0.531000	-0.096775	-0.517284	0.420509	13.287121	
0.532000	-0.099855	-0.520486	0.420631	13.165818	
0.533000	-0.102931	-0.523658	0.420727	13.043211	
0.534000	-0.106004	-0.526802	0.420799	12.919322	
0.535000	-0.109072	-0.529917	0.420845	12.794173	
0.536000	-0.112135	-0.533003	0.420867	12.667789	
0.537000	-0.115195	-0.536058	0.420864	12.540195	
0.538000	-0.118249	-0.539085	0.420835	12.411418	
0.539000	-0.121300	-0.542081	0.420781	12.281484	
0.540000	-0.124345	-0.545047	0.420702	12.150422	
0.541000	-0.127385	-0.547982	0.420597	12.018262	
0.542000	-0.130421	-0.550887	0.420467	11.885031	
0.543000	-0.133451	-0.553762	0.420311	11.750761	
0.544000	-0.136476	-0.556605	0.420129	11.615483	
0.545000	-0.139496	-0.559418	0.419922	11.479226	
0.546000	-0.142510	-0.562199	0.419689	11.342023	
0.547000	-0.145518	-0.564949	0.419430	11.203904	
0.548000	-0.148521	-0.567667	0.419146	11.064902	
0.549000	-0.151518	-0.570353	0.418836	10.925047	
0.550000	-0.154508	-0.573008	0.418499	10.784372	
0.551000	-0.157493	-0.575631	0.418137	10.642907	
0.552000	-0.160472	-0.578221	0.417750	10.500683	
0.553000	-0.163444	-0.580780	0.417336	10.357732	
0.554000	-0.166410	-0.583306	0.416896	10.214083	
0.555000	-0.169369	-0.585800	0.416431	10.069767	
0.556000	-0.172321	-0.588262	0.415940	9.924812	
0.557000	-0.175267	-0.590690	0.415423	9.779248	
0.558000	-0.178206	-0.593086	0.414881	9.633103	
0.559000	-0.181138	-0.595450	0.414312	9.486403	
0.560000	-0.184062	-0.597781	0.413718	9.339176	
0.561000	-0.186980	-0.600078	0.413099	9.191447	
0.562000	-0.189890	-0.602343	0.412454	9.043242	
0.563000	-0.192792	-0.604575	0.411783	8.894584	
0.564000	-0.195687	-0.606774	0.411087	8.745496	
0.565000	-0.198574	-0.608939	0.410365	8.596001	
0.566000	-0.201453	-0.611072	0.409619	8.446120	
0.567000	-0.204325	-0.613171	0.408847	8.295873	
0.568000	-0.207188	-0.615237	0.408049	8.145279	
0.569000	-0.210043	-0.617270	0.407227	7.994357	
0.570000	-0.212890	-0.619270	0.406380	7.843122	
0.571000	-0.215728	-0.621236	0.405508	7.691592	
0.572000	-0.218558	-0.623169	0.404611	7.539781	
0.573000	-0.221379	-0.625069	0.403689	7.387703	
0.574000	-0.224192	-0.626935	0.402743	7.235371	
0.575000	-0.226995	-0.628768	0.401772	7.082796	
0.576000	-0.229790	-0.630567	0.400777	6.929989	
0.577000	-0.232576	-0.632333	0.399758	6.776960	
0.578000	-0.235352	-0.634066	0.398714	6.623717	
0.579000	-0.238119	-0.635765	0.397646	6.470267	
0.580000	-0.240877	-0.637431	0.396554	6.316618	
0.581000	-0.243625	-0.639063	0.395438	6.162775	
0.582000	-0.246364	-0.640662	0.394299	6.008743	
0.583000	-0.249093	-0.642228	0.393135	5.854525	
0.584000	-0.251812	-0.643760	0.391948	5.700125	
0.585000	-0.254521	-0.645259	0.390738	5.545544	
0.586000	-0.257220	-0.646724	0.389504	5.390783	
0.587000	-0.259909	-0.648156	0.388247	5.235844	
0.588000	-0.262587	-0.649554	0.386966	5.080726	
0.589000	-0.265256	-0.650919	0.385663	4.925428	
0.590000	-0.267913	-0.652250	0.384337	4.769948	
0.591000	-0.270561	-0.653548	0.382987	4.614285	
0.592000	-0.273197	-0.654812	0.381615	4.458436	
0.593000	-0.275823	-0.656043	0.380220	4.302397	
0.594000	-0.278438	-0.657241	0.378803	4.146164	
0.595000	-0.281042	-0.658405	0.377363	3.989735	
0.596000	-0.283634	-0.659536	0.375901	3.833104	
0.597000	-0.286216	-0.660633	0.374417	3.676265	
0.598000	-0.288786	-0.661696	0.372910	3.519216	
0.599000	-0.291345	-0.662726	0.371381	3.361949	
0.600000	-0.293893	-0.663723	0.369830	3.204459	
0.601000	-0.296428	-0.664686	0.368257	3.046741	
0.602000	-0.298952	-0.665615	0.366663	2.888788	
0.603000	-0.301465	-0.666511	0.365046	2.730596	
0.604000	-0.303965	-0.667373	0.363408	2.572157	
0.605000	-0.306454	-0.668202	0.361748	2.413467	
0.606000	-0.308930	-0.668997	0.360067	2.254518	
0.607000	-0.311394	-0.669758	0.358364	2.095306	
0.608000	-0.313846	-0.670486	0.356640	1.935825	
0.609000	-0.316285	-0.671180	0.354895	1.776068	
0.610000	-0.318712	-0.671840	0.353128	1.616032	
0.611000	-0.321126	-0.672467	0.351340	1.455711	
0.612000	-0.323528	-0.673060	0.349532	1.295100	
0.613000	-0.325917	-0.673619	0.347702	1.134195	
0.614000	-0.328293	-0.674144	0.345851	0.972991	
0.615000	-0.330656	-0.674635	0.343979	0.811485	
0.616000	-0.333006	-0.675093	0.342087	0.649673	
0.617000	-0.335343	-0.675516	0.340174	0.487552	
0.618000	-0.337666	-0.675906	0.338240	0.325120	
0.619000	-0.339977	-0.676262	0.336285	0.162374	
0.620000	-0.342274	-0.676583	0.334310	-0.000687	
0.621000	-0.344557	-0.676871	0.332314	-0.164065	
0.622000	-0.346827	-0.677125	0.330298	-0.327760	
0.623000	-0.349083	-0.677344	0.328262	-0.491773	
0.624000	-0.351325	-0.677530	0.326205	-0.656104	
0.625000	-0.353553	-0.677681	0.324128	-0.820752	
0.626000	-0.355768	-0.677798	0.322030	-0.985715	
0.627000	-0.357968	-0.677881	0.319913	-1.150993	
0.628000	-0.360155	-0.677930	0.317775	-1.316582	
0.629000	-0.362327	-0.677944	0.315618	-1.482480	
0.630000	-0.364484	-0.677925	0.313440	-1.648684	
0.631000	-0.366628	-0.677871	0.311243	-1.815190	
0.632000	-0.368757	-0.677782	0.309026	-1.981994	
0.633000	-0.370871	-0.677659	0.306788	-2.149090	
0.634000	-0.372971	-0.677502	0.304532	-2.316474	
0.635000	-0.375056	-0.677311	0.302255	-2.484140	
0.636000	-0.377126	-0.677084	0.299959	-2.652081	
0.637000	-0.379181	-0.676824	0.297643	-2.820291	
0.638000	-0.381221	-0.676529	0.295308	-2.988763	
0.639000	-0.383247	-0.676200	0.292953	-3.157489	
0.640000	-0.385257	-0.675836	0.290579	-3.326460	
0.641000	-0.387252	-0.675437	0.288186	-3.495669	
0.642000	-0.389231	-0.675004	0.285773	-3.665107	
0.643000	-0.391195	-0.674537	0.283342	-3.834764	
0.644000	-0.393144	-0.674035	0.280891	-4.004631	
0.645000	-0.395078	-0.673498	0.278421	-4.174698	
0.646000	-0.396995	-0.672927	0.275932	-4.344955	
0.647000	-0.398897	-0.672322	0.273424	-4.515391	
0.648000	-0.400783	-0.671681	0.270898	-4.685995	
0.649000	-0.402654	-0.671007	0.268353	-4.856757	
0.650000	-0.404508	-0.670298	0.265789	-5.027664	
0.651000	-0.406347	-0.669554	0.263207	-5.198707	
0.652000	-0.408170	-0.668776	0.260606	-5.369872	
0.653000	-0.409976	-0.667963	0.257987	-5.541148	
0.654000	-0.411766	-0.667115	0.255349	-5.712523	
0.655000	-0.413540	-0.666234	0.252693	-5.883984	
0.656000	-0.415298	-0.665318	0.250020	-6.055521	
0.657000	-0.417039	-0.664367	0.247328	-6.227119	
0.658000	-0.418764	-0.663382	0.244618	-6.398768	
0.659000	-0.420472	-0.662363	0.241890	-6.570454	
0.660000	-0.422164	-0.661309	0.239145	-6.742164	
0.661000	-0.423839	-0.660221	0.236382	-6.913888	
0.662000	-0.425497	-0.659099	0.233602	-7.085611	
0.663000	-0.427139	-0.657942	0.230804	-7.257322	
0.664000	-0.428763	-0.656752	0.227989	-7.429008	
0.665000	-0.430371	-0.655527	0.225156	-7.600657	
0.666000	-0.431962	-0.654268	0.222307	-7.772257	
0.667000	-0.433535	-0.652975	0.219440	-7.943795	
0.668000	-0.435092	-0.651648	0.216557	-8.115260	
0.669000	-0.436631	-0.650288	0.213656	-8.286640	
0.670000	-0.438153	-0.648893	0.210740	-8.457923	
0.671000	-0.439658	-0.647464	0.207806	-8.629097	
0.672000	-0.441146	-0.646002	0.204856	-8.800152	
0.673000	-0.442616	-0.644506	0.201890	-8.971075	
0.674000	-0.444068	-0.642976	0.198908	-9.141856	
0.675000	-0.445503	-0.641413	0.195910	-9.312485	
0.676000	-0.446921	-0.639816	0.192896	-9.482949	
0.677000	-0.448321	-0.638186	0.189866	-9.653240	
0.678000	-0.449703	-0.636523	0.186820	-9.823347	
0.679000	-0.451067	-0.634826	0.183759	-9.993260	
0.680000	-0.452414	-0.633096	0.180682	-10.162969	
0.681000	-0.453742	-0.631333	0.177591	-10.332465	
0.682000	-0.455053	-0.629537	0.174484	-10.501738	
0.683000	-0.456346	-0.627707	0.171362	-10.670780	
0.684000	-0.457621	-0.625845	0.168225	-10.839582	
0.685000	-0.458877	-0.623951	0.165073	-11.008135	
0.686000	-0.460116	-0.622023	0.161907	-11.176431	
0.687000	-0.461336	-0.620063	0.158727	-11.344462	
0.688000	-0.462539	-0.618070	0.155532	-11.512221	
0.689000	-0.463723	-0.616045	0.152323	-11.679700	
0.690000	-0.464888	-0.613988	0.149099	-11.846891	
0.691000	-0.466036	-0.611898	0.145862	-12.013788	
0.692000	-0.467164	-0.609776	0.142612	-12.180383	
0.693000	-0.468275	-0.607622	0.139347	-12.346671	
0.694000	-0.469367	-0.605436	0.136069	-12.512644	
0.695000	-0.470440	-0.603219	0.132778	-12.678297	
0.696000	-0.471495	-0.600969	0.129474	-12.843624	
0.697000	-0.472532	-0.598688	0.126156	-13.008618	
0.698000	-0.473549	-0.596375	0.122826	-13.173275	
0.699000	-0.474548	-0.594031	0.119483	-13.337589	
0.700000	-0.475528	-0.591656	0.116127	-13.501555	
0.701000	-0.476490	-0.589249	0.112759	-13.665168	
0.702000	-0.477432	-0.586811	0.109379	-13.828423	
0.703000	-0.478356	-0.584342	0.105986	-13.991315	
0.704000	-0.479261	-0.581842	0.102582	-14.153840	
0.705000	-0.480147	-0.579312	0.099165	-14.315993	
0.706000	-0.481014	-0.576750	0.095737	-14.477770	
0.707000	-0.481862	-0.574159	0.092297	-14.639167	
0.708000	-0.482691	-0.571536	0.088845	-14.800180	
0.709000	-0.483501	-0.568883	0.085383	-14.960805	
0.710000	-0.484292	-0.566200	0.081909	-15.121037	
0.711000	-0.485063	-0.563487	0.078424	-15.280874	
0.712000	-0.485816	-0.560744	0.074928	-15.440310	
0.713000	-0.486549	-0.557971	0.071422	-15.599344	
0.714000	-0.487263	-0.555168	0.067905	-15.757970	
0.715000	-0.487958	-0.552336	0.064377	-15.916185	
0.716000	-0.488634	-0.549473	0.060839	-16.073987	
0.717000	-0.489290	-0.546582	0.057291	-16.231370	
0.718000	-0.489928	-0.543661	0.053733	-16.388332	
0.719000	-0.490545	-0.540711	0.050165	-16.544869	
0.720000	-0.491144	-0.537731	0.046588	-16.700977	
0.721000	-0.491723	-0.534723	0.043001	-16.856653	
0.722000	-0.492282	-0.531686	0.039404	-17.011894	
0.723000	-0.492822	-0.528620	0.035798	-17.166695	
0.724000	-0.493343	-0.525526	0.032183	-17.321053	
0.725000	-0.493844	-0.522403	0.028559	-17.474964	
0.726000	-0.494326	-0.519252	0.024926	-17.628425	
0.727000	-0.494788	-0.516072	0.021284	-17.781432	
0.728000	-0.495231	-0.512865	0.017634	-17.933980	
0.729000	-0.495654	-0.509629	0.013975	-18.086067	
0.730000	-0.496057	-0.506365	0.010308	-18.237687	
0.731000	-0.496441	-0.503074	0.006633	-18.388838	
0.732000	-0.496806	-0.499755	0.002950	-18.539514	
0.733000	-0.497150	-0.496409	-0.000742	-18.689712	
0.734000	-0.497476	-0.493035	-0.004441	-18.839427	
0.735000	-0.497781	-0.489634	-0.008147	-18.988655	
0.736000	-0.498067	-0.486206	-0.011861	-19.137391	
0.737000	-0.498333	-0.482751	-0.015582	-19.285631	
0.738000	-0.498579	-0.479269	-0.019311	-19.433371	
0.739000	-0.498806	-0.475760	-0.023046	-19.580605	
0.740000	-0.499013	-0.472225	-0.026788	-19.727328	
0.741000	-0.499201	-0.468663	-0.030538	-19.873537	
0.742000	-0.499368	-0.465075	-0.034293	-20.019225	
0.743000	-0.499516	-0.461461	-0.038055	-20.164388	
0.744000	-0.499645	-0.457821	-0.041824	-20.309020	
0.745000	-0.499753	-0.454155	-0.045599	-20.453117	
0.746000	-0.499842	-0.450463	-0.049379	-20.596673	
0.747000	-0.499911	-0.446745	-0.053166	-20.739681	
0.748000	-0.499961	-0.443002	-0.056958	-20.882138	
0.749000	-0.499990	-0.439234	-0.060756	-21.024038	
0.750000	-0.500000	-0.435441	-0.064559	-21.165373	
0.751000	-0.499990	-0.431622	-0.068368	-21.306140	
0.752000	-0.499961	-0.427778	-0.072182	-21.446332	
0.753000	-0.499911	-0.423910	-0.076001	-21.585943	
0.754000	-0.499842	-0.420017	-0.079825	-21.724967	
0.755000	-0.499753	-0.416100	-0.083653	-21.863399	
0.756000	-0.499645	-0.412158	-0.087486	-22.001232	
0.757000	-0.499516	-0.408192	-0.091324	-22.138460	
0.758000	-0.499368	-0.404203	-0.095166	-22.275077	
0.759000	-0.499201	-0.400189	-0.099012	-22.411076	
0.760000	-0.499013	-0.396151	-0.102862	-22.546452	
0.761000	-0.498806	-0.392090	-0.106716	-22.681199	
0.762000	-0.498579	-0.388006	-0.110573	-22.815309	
0.763000	-0.498333	-0.383898	-0.114435	-22.948777	
0.764000	-0.498067	-0.379768	-0.118299	-23.081597	
0.765000	-0.497781	-0.375614	-0.122167	-23.213761	
0.766000	-0.497476	-0.371437	-0.126038	-23.345264	
0.767000	-0.497150	-0.367238	-0.129912	-23.476099	
0.768000	-0.496806	-0.363017	-0.133789	-23.606261	
0.769000	-0.496441	-0.358773	-0.137668	-23.735741	
0.770000	-0.496057	-0.354507	-0.141550	-23.864536	
0.771000	-0.495654	-0.350219	-0.145435	-23.992637	
0.772000	-0.495231	-0.345910	-0.149321	-24.120038	
0.773000	-0.494788	-0.341578	-0.153210	-24.246735	
0.774000	-0.494326	-0.337226	-0.157100	-24.372719	
0.775000	-0.493844	-0.332852	-0.160992	-24.497985	
0.776000	-0.493343	-0.328457	-0.164886	-24.622527	
0.777000	-0.492822	-0.324041	-0.168782	-24.746339	
0.778000	-0.492282	-0.319604	-0.172678	-24.869414	
0.779000	-0.491723	-0.315147	-0.176576	-24.991746	
0.780000	-0.491144	-0.310669	-0.180475	-25.113331	
0.781000	-0.490545	-0.306171	-0.184374	-25.234160	
0.782000	-0.489928	-0.301653	-0.188275	-25.354230	
0.783000	-0.489290	-0.297115	-0.192176	-25.473533	
0.784000	-0.488634	-0.292557	-0.196077	-25.592065	
0.785000	-0.487958	-0.287980	-0.199978	-25.709819	
0.786000	-0.487263	-0.283384	-0.203880	-25.826790	
0.787000	-0.486549	-0.278768	-0.207781	-25.942973	
0.788000	-0.485816	-0.274134	-0.211682	-26.058361	
0.789000	-0.485063	-0.269480	-0.215583	-26.172950	
0.790000	-0.484292	-0.264808	-0.219483	-26.286735	
0.791000	-0.483501	-0.260118	-0.223383	-26.399709