error1.txt

第一步：采用PID控制

0.792000	-0.482691	-0.255409	-0.227281	-26.511868	
0.793000	-0.481862	-0.250683	-0.231179	-26.623207	
0.794000	-0.481014	-0.245938	-0.235076	-26.733721	
0.795000	-0.480147	-0.241176	-0.238971	-26.843405	
0.796000	-0.479261	-0.236397	-0.242864	-26.952255	
0.797000	-0.478356	-0.231600	-0.246756	-27.060264	
0.798000	-0.477432	-0.226786	-0.250646	-27.167430	
0.799000	-0.476490	-0.221955	-0.254534	-27.273746	
0.800000	-0.475528	-0.217108	-0.258421	-27.379210	
0.801000	-0.474548	-0.212244	-0.262304	-27.483816	
0.802000	-0.473549	-0.207363	-0.266186	-27.587560	
0.803000	-0.472532	-0.202467	-0.270064	-27.690438	
0.804000	-0.471495	-0.197555	-0.273941	-27.792446	
0.805000	-0.470440	-0.192627	-0.277814	-27.893579	
0.806000	-0.469367	-0.187683	-0.281684	-27.993834	
0.807000	-0.468275	-0.182724	-0.285551	-28.093207	
0.808000	-0.467164	-0.177750	-0.289414	-28.191694	
0.809000	-0.466036	-0.172761	-0.293274	-28.289292	
0.810000	-0.464888	-0.167758	-0.297130	-28.385996	
0.811000	-0.463723	-0.162740	-0.300983	-28.481803	
0.812000	-0.462539	-0.157707	-0.304831	-28.576710	
0.813000	-0.461336	-0.152661	-0.308676	-28.670713	
0.814000	-0.460116	-0.147600	-0.312516	-28.763808	
0.815000	-0.458877	-0.142526	-0.316351	-28.855993	
0.816000	-0.457621	-0.137438	-0.320182	-28.947264	
0.817000	-0.456346	-0.132337	-0.324009	-29.037619	
0.818000	-0.455053	-0.127223	-0.327830	-29.127053	
0.819000	-0.453742	-0.122096	-0.331646	-29.215564	
0.820000	-0.452414	-0.116956	-0.335457	-29.303148	
0.821000	-0.451067	-0.111804	-0.339263	-29.389804	
0.822000	-0.449703	-0.106639	-0.343063	-29.475527	
0.823000	-0.448321	-0.101463	-0.346858	-29.560316	
0.824000	-0.446921	-0.096274	-0.350646	-29.644167	
0.825000	-0.445503	-0.091074	-0.354429	-29.727077	
0.826000	-0.444068	-0.085863	-0.358206	-29.809045	
0.827000	-0.442616	-0.080640	-0.361976	-29.890066	
0.828000	-0.441146	-0.075406	-0.365740	-29.970139	
0.829000	-0.439658	-0.070161	-0.369497	-30.049262	
0.830000	-0.438153	-0.064906	-0.373248	-30.127430	
0.831000	-0.436631	-0.059640	-0.376992	-30.204643	
0.832000	-0.435092	-0.054364	-0.380728	-30.280897	
0.833000	-0.433535	-0.049078	-0.384458	-30.356190	
0.834000	-0.431962	-0.043782	-0.388180	-30.430520	
0.835000	-0.430371	-0.038476	-0.391895	-30.503884	
0.836000	-0.428763	-0.033161	-0.395602	-30.576280	
0.837000	-0.427139	-0.027837	-0.399301	-30.647705	
0.838000	-0.425497	-0.022504	-0.402993	-30.718158	
0.839000	-0.423839	-0.017163	-0.406676	-30.787636	
0.840000	-0.422164	-0.011812	-0.410352	-30.856136	
0.841000	-0.420472	-0.006454	-0.414019	-30.923657	
0.842000	-0.418764	-0.001087	-0.417677	-30.990197	
0.843000	-0.417039	0.004288	-0.421327	-31.055752	
0.844000	-0.415298	0.009670	-0.424968	-31.120321	
0.845000	-0.413540	0.015060	-0.428600	-31.183902	
0.846000	-0.411766	0.020457	-0.432223	-31.246492	
0.847000	-0.409976	0.025861	-0.435837	-31.308090	
0.848000	-0.408170	0.031272	-0.439442	-31.368694	
0.849000	-0.406347	0.036690	-0.443037	-31.428300	
0.850000	-0.404508	0.042114	-0.446622	-31.486908	
0.851000	-0.402654	0.047544	-0.450198	-31.544515	
0.852000	-0.400783	0.052980	-0.453764	-31.601119	
0.853000	-0.398897	0.058422	-0.457319	-31.656718	
0.854000	-0.396995	0.063870	-0.460865	-31.711310	
0.855000	-0.395078	0.069323	-0.464400	-31.764893	
0.856000	-0.393144	0.074781	-0.467925	-31.817465	
0.857000	-0.391195	0.080244	-0.471439	-31.869024	
0.858000	-0.389231	0.085712	-0.474943	-31.919569	
0.859000	-0.387252	0.091184	-0.478436	-31.969096	
0.860000	-0.385257	0.096661	-0.481917	-32.017605	
0.861000	-0.383247	0.102141	-0.485388	-32.065093	
0.862000	-0.381221	0.107626	-0.488847	-32.111559	
0.863000	-0.379181	0.113114	-0.492295	-32.157001	
0.864000	-0.377126	0.118605	-0.495731	-32.201416	
0.865000	-0.375056	0.124100	-0.499156	-32.244803	
0.866000	-0.372971	0.129598	-0.502568	-32.287160	
0.867000	-0.370871	0.135098	-0.505969	-32.328486	
0.868000	-0.368757	0.140601	-0.509358	-32.368779	
0.869000	-0.366628	0.146107	-0.512734	-32.408036	
0.870000	-0.364484	0.151614	-0.516099	-32.446257	
0.871000	-0.362327	0.157124	-0.519450	-32.483439	
0.872000	-0.360155	0.162635	-0.522789	-32.519581	
0.873000	-0.357968	0.168148	-0.526116	-32.554681	
0.874000	-0.355768	0.173661	-0.529429	-32.588738	
0.875000	-0.353553	0.179176	-0.532730	-32.621750	
0.876000	-0.351325	0.184692	-0.536017	-32.653716	
0.877000	-0.349083	0.190209	-0.539291	-32.684634	
0.878000	-0.346827	0.195725	-0.542552	-32.714502	
0.879000	-0.344557	0.201242	-0.545799	-32.743320	
0.880000	-0.342274	0.206759	-0.549033	-32.771085	
0.881000	-0.339977	0.212276	-0.552253	-32.797797	
0.882000	-0.337666	0.217792	-0.555458	-32.823454	
0.883000	-0.335343	0.223308	-0.558650	-32.848055	
0.884000	-0.333006	0.228822	-0.561828	-32.871599	
0.885000	-0.330656	0.234336	-0.564992	-32.894084	
0.886000	-0.328293	0.239848	-0.568141	-32.915509	
0.887000	-0.325917	0.245358	-0.571275	-32.935873	
0.888000	-0.323528	0.250867	-0.574395	-32.955176	
0.889000	-0.321126	0.256374	-0.577500	-32.973415	
0.890000	-0.318712	0.261879	-0.580591	-32.990591	
0.891000	-0.316285	0.267381	-0.583666	-33.006702	
0.892000	-0.313846	0.272880	-0.586726	-33.021746	
0.893000	-0.311394	0.278377	-0.589771	-33.035725	
0.894000	-0.308930	0.283870	-0.592800	-33.048635	
0.895000	-0.306454	0.289361	-0.595814	-33.060478	
0.896000	-0.303965	0.294848	-0.598813	-33.071252	
0.897000	-0.301465	0.300331	-0.601795	-33.080956	
0.898000	-0.298952	0.305810	-0.604762	-33.089591	
0.899000	-0.296428	0.311285	-0.607713	-33.097154	
0.900000	-0.293893	0.316755	-0.610648	-33.103647	
0.901000	-0.291345	0.322221	-0.613566	-33.109068	
0.902000	-0.288786	0.327682	-0.616469	-33.113416	
0.903000	-0.286216	0.333138	-0.619354	-33.116693	
0.904000	-0.283634	0.338589	-0.622224	-33.118897	
0.905000	-0.281042	0.344035	-0.625076	-33.120028	
0.906000	-0.278438	0.349474	-0.627912	-33.120087	
0.907000	-0.275823	0.354908	-0.630731	-33.119072	
0.908000	-0.273197	0.360336	-0.633533	-33.116984	
0.909000	-0.270561	0.365757	-0.636318	-33.113823	
0.910000	-0.267913	0.371172	-0.639086	-33.109588	
0.911000	-0.265256	0.376581	-0.641836	-33.104281	
0.912000	-0.262587	0.381982	-0.644569	-33.097901	
0.913000	-0.259909	0.387376	-0.647284	-33.090448	
0.914000	-0.257220	0.392762	-0.649982	-33.081922	
0.915000	-0.254521	0.398141	-0.652662	-33.072325	
0.916000	-0.251812	0.403513	-0.655324	-33.061655	
0.917000	-0.249093	0.408876	-0.657968	-33.049914	
0.918000	-0.246364	0.414231	-0.660594	-33.037102	
0.919000	-0.243625	0.419577	-0.663202	-33.023220	
0.920000	-0.240877	0.424915	-0.665792	-33.008268	
0.921000	-0.238119	0.430244	-0.668363	-32.992247	
0.922000	-0.235352	0.435564	-0.670916	-32.975157	
0.923000	-0.232576	0.440874	-0.673450	-32.957000	
0.924000	-0.229790	0.446175	-0.675965	-32.937775	
0.925000	-0.226995	0.451466	-0.678462	-32.917484	
0.926000	-0.224192	0.456748	-0.680939	-32.896128	
0.927000	-0.221379	0.462019	-0.683398	-32.873707	
0.928000	-0.218558	0.467280	-0.685838	-32.850222	
0.929000	-0.215728	0.472530	-0.688258	-32.825676	
0.930000	-0.212890	0.477770	-0.690660	-32.800068	
0.931000	-0.210043	0.482999	-0.693041	-32.773399	
0.932000	-0.207188	0.488216	-0.695404	-32.745672	
0.933000	-0.204325	0.493422	-0.697747	-32.716886	
0.934000	-0.201453	0.498617	-0.700070	-32.687044	
0.935000	-0.198574	0.503799	-0.702373	-32.656146	
0.936000	-0.195687	0.508970	-0.704657	-32.624195	
0.937000	-0.192792	0.514128	-0.706920	-32.591191	
0.938000	-0.189890	0.519274	-0.709164	-32.557135	
0.939000	-0.186980	0.524408	-0.711387	-32.522030	
0.940000	-0.184062	0.529528	-0.713591	-32.485876	
0.941000	-0.181138	0.534636	-0.715774	-32.448676	
0.942000	-0.178206	0.539731	-0.717936	-32.410431	
0.943000	-0.175267	0.544812	-0.720079	-32.371142	
0.944000	-0.172321	0.549879	-0.722200	-32.330811	
0.945000	-0.169369	0.554932	-0.724301	-32.289441	
0.946000	-0.166410	0.559972	-0.726382	-32.247032	
0.947000	-0.163444	0.564997	-0.728441	-32.203586	
0.948000	-0.160472	0.570008	-0.730480	-32.159106	
0.949000	-0.157493	0.575004	-0.732498	-32.113593	
0.950000	-0.154508	0.579986	-0.734494	-32.067049	
0.951000	-0.151518	0.584952	-0.736470	-32.019476	
0.952000	-0.148521	0.589904	-0.738424	-31.970876	
0.953000	-0.145518	0.594840	-0.740358	-31.921251	
0.954000	-0.142510	0.599760	-0.742269	-31.870604	
0.955000	-0.139496	0.604664	-0.744160	-31.818935	
0.956000	-0.136476	0.609553	-0.746029	-31.766248	
0.957000	-0.133451	0.614425	-0.747876	-31.712544	
0.958000	-0.130421	0.619281	-0.749702	-31.657826	
0.959000	-0.127385	0.624120	-0.751506	-31.602096	
0.960000	-0.124345	0.628943	-0.753288	-31.545356	
0.961000	-0.121300	0.633749	-0.755048	-31.487609	
0.962000	-0.118249	0.638537	-0.756787	-31.428857	
0.963000	-0.115195	0.643309	-0.758503	-31.369101	
0.964000	-0.112135	0.648062	-0.760198	-31.308346	
0.965000	-0.109072	0.652798	-0.761870	-31.246593	
0.966000	-0.106004	0.657517	-0.763520	-31.183844	
0.967000	-0.102931	0.662217	-0.765148	-31.120102	
0.968000	-0.099855	0.666899	-0.766754	-31.055370	
0.969000	-0.096775	0.671562	-0.768337	-30.989650	
0.970000	-0.093691	0.676207	-0.769897	-30.922945	
0.971000	-0.090603	0.680833	-0.771436	-30.855257	
0.972000	-0.087512	0.685440	-0.772951	-30.786590	
0.973000	-0.084417	0.690028	-0.774444	-30.716945	
0.974000	-0.081319	0.694596	-0.775915	-30.646327	
0.975000	-0.078217	0.699145	-0.777362	-30.574736	
0.976000	-0.075113	0.703674	-0.778787	-30.502177	
0.977000	-0.072005	0.708184	-0.780189	-30.428652	
0.978000	-0.068895	0.712673	-0.781568	-30.354164	
0.979000	-0.065782	0.717142	-0.782924	-30.278716	
0.980000	-0.062667	0.721591	-0.784257	-30.202310	
0.981000	-0.059549	0.726019	-0.785568	-30.124951	
0.982000	-0.056428	0.730426	-0.786854	-30.046640	
0.983000	-0.053306	0.734813	-0.788118	-29.967381	
0.984000	-0.050181	0.739178	-0.789359	-29.887178	
0.985000	-0.047054	0.743522	-0.790576	-29.806032	
0.986000	-0.043926	0.747844	-0.791770	-29.723948	
0.987000	-0.040795	0.752145	-0.792941	-29.640928	
0.988000	-0.037663	0.756424	-0.794088	-29.556976	
0.989000	-0.034530	0.760681	-0.795211	-29.472095	
0.990000	-0.031395	0.764916	-0.796312	-29.386288	
0.991000	-0.028259	0.769129	-0.797388	-29.299559	
0.992000	-0.025122	0.773319	-0.798442	-29.211911	
0.993000	-0.021984	0.777487	-0.799471	-29.123347	
0.994000	-0.018845	0.781632	-0.800477	-29.033871	
0.995000	-0.015705	0.785754	-0.801459	-28.943486	
0.996000	-0.012565	0.789852	-0.802417	-28.852196	
0.997000	-0.009424	0.793928	-0.803352	-28.760005	
0.998000	-0.006283	0.797980	-0.804263	-28.666915	
0.999000	-0.003142	0.802008	-0.805150	-28.572931	
1.000000	0.000000	0.806013	-0.806013	-28.478057	
1.001000	0.003142	0.809993	-0.806852	-28.382295	
1.002000	0.006283	0.813950	-0.807667	-28.285649	
1.003000	0.009424	0.817883	-0.808458	-28.188124	
1.004000	0.012565	0.821791	-0.809225	-28.089724	
1.005000	0.015705	0.825674	-0.809969	-27.990451	
1.006000	0.018845	0.829533	-0.810688	-27.890310	
1.007000	0.021984	0.833367	-0.811383	-27.789305	
1.008000	0.025122	0.837176	-0.812053	-27.687439	
1.009000	0.028259	0.840959	-0.812700	-27.584718	
1.010000	0.031395	0.844718	-0.813323	-27.481143	
1.011000	0.034530	0.848451	-0.813921	-27.376721	
1.012000	0.037663	0.852158	-0.814495	-27.271454	
1.013000	0.040795	0.855840	-0.815045	-27.165348	
1.014000	0.043926	0.859496	-0.815570	-27.058405	
1.015000	0.047054	0.863125	-0.816071	-26.950631	
1.016000	0.050181	0.866729	-0.816548	-26.842029	
1.017000	0.053306	0.870306	-0.817001	-26.732604	
1.018000	0.056428	0.873857	-0.817429	-26.622360	
1.019000	0.059549	0.877381	-0.817833	-26.511301	
1.020000	0.062667	0.880879	-0.818212	-26.399432	
1.021000	0.065782	0.884349	-0.818567	-26.286757	
1.022000	0.068895	0.887793	-0.818898	-26.173281	
1.023000	0.072005	0.891209	-0.819204	-26.059007	
1.024000	0.075113	0.894598	-0.819486	-25.943941	
1.025000	0.078217	0.897960	-0.819743	-25.828087	
1.026000	0.081319	0.901294	-0.819976	-25.711450	
1.027000	0.084417	0.904601	-0.820184	-25.594034	
1.028000	0.087512	0.907879	-0.820368	-25.475843	
1.029000	0.090603	0.911130	-0.820527	-25.356883	
1.030000	0.093691	0.914353	-0.820662	-25.237158	
1.031000	0.096775	0.917547	-0.820772	-25.116673	
1.032000	0.099855	0.920713	-0.820858	-24.995433	
1.033000	0.102931	0.923851	-0.820920	-24.873442	
1.034000	0.106004	0.926960	-0.820956	-24.750706	
1.035000	0.109072	0.930040	-0.820969	-24.627228	
1.036000	0.112135	0.933092	-0.820956	-24.503015	
1.037000	0.115195	0.936114	-0.820920	-24.378070	
1.038000	0.118249	0.939108	-0.820859	-24.252400	
1.039000	0.121300	0.942072	-0.820773	-24.126008	
1.040000	0.124345	0.945007	-0.820663	-23.998900	
1.041000	0.127385	0.947913	-0.820528	-23.871081	
1.042000	0.130421	0.950789	-0.820369	-23.742556	
1.043000	0.133451	0.953636	-0.820185	-23.613329	
1.044000	0.136476	0.956453	-0.819977	-23.483408	
1.045000	0.139496	0.959239	-0.819744	-23.352795	
1.046000	0.142510	0.961996	-0.819487	-23.221497	
1.047000	0.145518	0.964723	-0.819205	-23.089518	
1.048000	0.148521	0.967420	-0.818899	-22.956865	
1.049000	0.151518	0.970086	-0.818568	-22.823542	
1.050000	0.154508	0.972722	-0.818214	-22.689554	
1.051000	0.157493	0.975327	-0.817834	-22.554907	
1.052000	0.160472	0.977902	-0.817431	-22.419606	
1.053000	0.163444	0.980446	-0.817002	-22.283657	
1.054000	0.166410	0.982960	-0.816550	-22.147065	
1.055000	0.169369	0.985442	-0.816073	-22.009835