error1.txt

第一步：采用PID控制

1.056000	0.172321	0.987893	-0.815572	-21.871973	
1.057000	0.175267	0.990314	-0.815047	-21.733484	
1.058000	0.178206	0.992703	-0.814497	-21.594374	
1.059000	0.181138	0.995061	-0.813923	-21.454648	
1.060000	0.184062	0.997387	-0.813325	-21.314312	
1.061000	0.186980	0.999682	-0.812702	-21.173371	
1.062000	0.189890	1.001945	-0.812056	-21.031832	
1.063000	0.192792	1.004177	-0.811385	-20.889699	
1.064000	0.195687	1.006377	-0.810690	-20.746978	
1.065000	0.198574	1.008545	-0.809971	-20.603675	
1.066000	0.201453	1.010681	-0.809228	-20.459795	
1.067000	0.204325	1.012785	-0.808461	-20.315345	
1.068000	0.207188	1.014857	-0.807669	-20.170330	
1.069000	0.210043	1.016897	-0.806854	-20.024755	
1.070000	0.212890	1.018905	-0.806015	-19.878627	
1.071000	0.215728	1.020880	-0.805152	-19.731952	
1.072000	0.218558	1.022823	-0.804265	-19.584734	
1.073000	0.221379	1.024733	-0.803354	-19.436980	
1.074000	0.224192	1.026611	-0.802420	-19.288696	
1.075000	0.226995	1.028457	-0.801461	-19.139888	
1.076000	0.229790	1.030269	-0.800479	-18.990561	
1.077000	0.232576	1.032049	-0.799473	-18.840722	
1.078000	0.235352	1.033796	-0.798444	-18.690376	
1.079000	0.238119	1.035510	-0.797391	-18.539529	
1.080000	0.240877	1.037191	-0.796314	-18.388188	
1.081000	0.243625	1.038839	-0.795214	-18.236357	
1.082000	0.246364	1.040453	-0.794090	-18.084044	
1.083000	0.249093	1.042035	-0.792942	-17.931254	
1.084000	0.251812	1.043583	-0.791772	-17.777994	
1.085000	0.254521	1.045099	-0.790578	-17.624269	
1.086000	0.257220	1.046580	-0.789360	-17.470085	
1.087000	0.259909	1.048029	-0.788120	-17.315449	
1.088000	0.262587	1.049443	-0.786856	-17.160366	
1.089000	0.265256	1.050825	-0.785569	-17.004843	
1.090000	0.267913	1.052172	-0.784259	-16.848886	
1.091000	0.270561	1.053486	-0.782926	-16.692501	
1.092000	0.273197	1.054767	-0.781570	-16.535694	
1.093000	0.275823	1.056013	-0.780191	-16.378471	
1.094000	0.278438	1.057226	-0.778788	-16.220839	
1.095000	0.281042	1.058405	-0.777364	-16.062804	
1.096000	0.283634	1.059550	-0.775916	-15.904372	
1.097000	0.286216	1.060662	-0.774445	-15.745549	
1.098000	0.288786	1.061739	-0.772952	-15.586341	
1.099000	0.291345	1.062782	-0.771437	-15.426755	
1.100000	0.293893	1.063791	-0.769898	-15.266798	
1.101000	0.296428	1.064766	-0.768338	-15.106474	
1.102000	0.298952	1.065707	-0.766754	-14.945792	
1.103000	0.301465	1.066614	-0.765149	-14.784756	
1.104000	0.303965	1.067486	-0.763521	-14.623374	
1.105000	0.306454	1.068324	-0.761871	-14.461652	
1.106000	0.308930	1.069128	-0.760198	-14.299595	
1.107000	0.311394	1.069898	-0.758504	-14.137212	
1.108000	0.313846	1.070633	-0.756788	-13.974507	
1.109000	0.316285	1.071334	-0.755049	-13.811487	
1.110000	0.318712	1.072001	-0.753289	-13.648159	
1.111000	0.321126	1.072633	-0.751506	-13.484529	
1.112000	0.323528	1.073230	-0.749702	-13.320604	
1.113000	0.325917	1.073794	-0.747877	-13.156390	
1.114000	0.328293	1.074322	-0.746029	-12.991894	
1.115000	0.330656	1.074816	-0.744161	-12.827121	
1.116000	0.333006	1.075276	-0.742270	-12.662079	
1.117000	0.335343	1.075701	-0.740358	-12.496774	
1.118000	0.337666	1.076092	-0.738425	-12.331213	
1.119000	0.339977	1.076448	-0.736471	-12.165401	
1.120000	0.342274	1.076769	-0.734495	-11.999346	
1.121000	0.344557	1.077056	-0.732499	-11.833055	
1.122000	0.346827	1.077308	-0.730481	-11.666533	
1.123000	0.349083	1.077525	-0.728443	-11.499787	
1.124000	0.351325	1.077708	-0.726383	-11.332824	
1.125000	0.353553	1.077856	-0.724303	-11.165650	
1.126000	0.355768	1.077970	-0.722202	-10.998273	
1.127000	0.357968	1.078049	-0.720080	-10.830698	
1.128000	0.360155	1.078093	-0.717938	-10.662932	
1.129000	0.362327	1.078102	-0.715776	-10.494982	
1.130000	0.364484	1.078077	-0.713593	-10.326855	
1.131000	0.366628	1.078017	-0.711390	-10.158556	
1.132000	0.368757	1.077923	-0.709166	-9.990093	
1.133000	0.370871	1.077794	-0.706923	-9.821473	
1.134000	0.372971	1.077630	-0.704659	-9.652702	
1.135000	0.375056	1.077432	-0.702376	-9.483786	
1.136000	0.377126	1.077199	-0.700073	-9.314733	
1.137000	0.379181	1.076931	-0.697750	-9.145548	
1.138000	0.381221	1.076629	-0.695407	-8.976240	
1.139000	0.383247	1.076292	-0.693045	-8.806813	
1.140000	0.385257	1.075920	-0.690663	-8.637276	
1.141000	0.387252	1.075514	-0.688262	-8.467634	
1.142000	0.389231	1.075073	-0.685842	-8.297895	
1.143000	0.391195	1.074598	-0.683403	-8.128065	
1.144000	0.393144	1.074088	-0.680944	-7.958151	
1.145000	0.395078	1.073544	-0.678467	-7.788160	
1.146000	0.396995	1.072965	-0.675970	-7.618097	
1.147000	0.398897	1.072352	-0.673455	-7.447971	
1.148000	0.400783	1.071705	-0.670921	-7.277787	
1.149000	0.402654	1.071023	-0.668369	-7.107553	
1.150000	0.404508	1.070306	-0.665798	-6.937275	
1.151000	0.406347	1.069555	-0.663208	-6.766960	
1.152000	0.408170	1.068770	-0.660601	-6.596614	
1.153000	0.409976	1.067951	-0.657975	-6.426245	
1.154000	0.411766	1.067097	-0.655331	-6.255859	
1.155000	0.413540	1.066209	-0.652669	-6.085463	
1.156000	0.415298	1.065287	-0.649989	-5.915063	
1.157000	0.417039	1.064331	-0.647292	-5.744666	
1.158000	0.418764	1.063340	-0.644576	-5.574279	
1.159000	0.420472	1.062316	-0.641844	-5.403909	
1.160000	0.422164	1.061257	-0.639094	-5.233563	
1.161000	0.423839	1.060165	-0.636326	-5.063246	
1.162000	0.425497	1.059038	-0.633541	-4.892967	
1.163000	0.427139	1.057878	-0.630739	-4.722731	
1.164000	0.428763	1.056684	-0.627921	-4.552546	
1.165000	0.430371	1.055456	-0.625085	-4.382417	
1.166000	0.431962	1.054194	-0.622232	-4.212353	
1.167000	0.433535	1.052898	-0.619363	-4.042359	
1.168000	0.435092	1.051569	-0.616477	-3.872442	
1.169000	0.436631	1.050206	-0.613575	-3.702609	
1.170000	0.438153	1.048810	-0.610656	-3.532867	
1.171000	0.439658	1.047380	-0.607722	-3.363222	
1.172000	0.441146	1.045916	-0.604771	-3.193682	
1.173000	0.442616	1.044420	-0.601804	-3.024252	
1.174000	0.444068	1.042890	-0.598821	-2.854939	
1.175000	0.445503	1.041326	-0.595823	-2.685751	
1.176000	0.446921	1.039730	-0.592809	-2.516694	
1.177000	0.448321	1.038100	-0.589779	-2.347774	
1.178000	0.449703	1.036437	-0.586734	-2.178998	
1.179000	0.451067	1.034741	-0.583674	-2.010373	
1.180000	0.452414	1.033012	-0.580599	-1.841906	
1.181000	0.453742	1.031251	-0.577508	-1.673603	
1.182000	0.455053	1.029456	-0.574403	-1.505470	
1.183000	0.456346	1.027629	-0.571283	-1.337516	
1.184000	0.457621	1.025769	-0.568148	-1.169745	
1.185000	0.458877	1.023876	-0.564999	-1.002165	
1.186000	0.460116	1.021951	-0.561835	-0.834782	
1.187000	0.461336	1.019994	-0.558657	-0.667604	
1.188000	0.462539	1.018004	-0.555465	-0.500636	
1.189000	0.463723	1.015982	-0.552259	-0.333885	
1.190000	0.464888	1.013927	-0.549039	-0.167357	
1.191000	0.466036	1.011841	-0.545805	-0.001061	
1.192000	0.467164	1.009722	-0.542558	0.164999	
1.193000	0.468275	1.007571	-0.539297	0.330816	
1.194000	0.469367	1.005389	-0.536022	0.496382	
1.195000	0.470440	1.003175	-0.532734	0.661692	
1.196000	0.471495	1.000929	-0.529434	0.826739	
1.197000	0.472532	0.998651	-0.526120	0.991517	
1.198000	0.473549	0.996342	-0.522793	1.156018	
1.199000	0.474548	0.994002	-0.519454	1.320237	
1.200000	0.475528	0.991630	-0.516102	1.484166	
1.201000	0.476490	0.989227	-0.512737	1.647800	
1.202000	0.477432	0.986792	-0.509360	1.811133	
1.203000	0.478356	0.984327	-0.505971	1.974156	
1.204000	0.479261	0.981831	-0.502570	2.136865	
1.205000	0.480147	0.979304	-0.499157	2.299253	
1.206000	0.481014	0.976746	-0.495732	2.461312	
1.207000	0.481862	0.974157	-0.492295	2.623038	
1.208000	0.482691	0.971538	-0.488847	2.784423	
1.209000	0.483501	0.968888	-0.485388	2.945462	
1.210000	0.484292	0.966208	-0.481917	3.106147	
1.211000	0.485063	0.963498	-0.478435	3.266473	
1.212000	0.485816	0.960758	-0.474942	3.426432	
1.213000	0.486549	0.957987	-0.471438	3.586020	
1.214000	0.487263	0.955187	-0.467924	3.745229	
1.215000	0.487958	0.952357	-0.464398	3.904053	
1.216000	0.488634	0.949497	-0.460863	4.062487	
1.217000	0.489290	0.946608	-0.457317	4.220523	
1.218000	0.489928	0.943689	-0.453761	4.378155	
1.219000	0.490545	0.940740	-0.450195	4.535378	
1.220000	0.491144	0.937763	-0.446619	4.692185	
1.221000	0.491723	0.934756	-0.443034	4.848569	
1.222000	0.492282	0.931721	-0.439438	5.004526	
1.223000	0.492822	0.928656	-0.435834	5.160047	
1.224000	0.493343	0.925563	-0.432220	5.315129	
1.225000	0.493844	0.922441	-0.428597	5.469763	
1.226000	0.494326	0.919290	-0.424965	5.623945	
1.227000	0.494788	0.916112	-0.421323	5.777668	
1.228000	0.495231	0.912904	-0.417674	5.930926	
1.229000	0.495654	0.909669	-0.414015	6.083712	
1.230000	0.496057	0.906406	-0.410349	6.236022	
1.231000	0.496441	0.903115	-0.406673	6.387849	
1.232000	0.496806	0.899796	-0.402990	6.539187	
1.233000	0.497150	0.896449	-0.399299	6.690029	
1.234000	0.497476	0.893075	-0.395600	6.840371	
1.235000	0.497781	0.889674	-0.391893	6.990206	
1.236000	0.498067	0.886245	-0.388178	7.139528	
1.237000	0.498333	0.882789	-0.384456	7.288331	
1.238000	0.498579	0.879307	-0.380727	7.436610	
1.239000	0.498806	0.875797	-0.376991	7.584358	
1.240000	0.499013	0.872261	-0.373248	7.731570	
1.241000	0.499201	0.868698	-0.369498	7.878240	
1.242000	0.499368	0.865109	-0.365741	8.024362	
1.243000	0.499516	0.861494	-0.361977	8.169930	
1.244000	0.499645	0.857852	-0.358208	8.314939	
1.245000	0.499753	0.854185	-0.354432	8.459383	
1.246000	0.499842	0.850492	-0.350649	8.603256	
1.247000	0.499911	0.846773	-0.346861	8.746553	
1.248000	0.499961	0.843028	-0.343068	8.889267	
1.249000	0.499990	0.839258	-0.339268	9.031394	
1.250000	0.500000	0.835463	-0.335463	9.172927	
1.251000	0.499990	0.831643	-0.331653	9.313861	
1.252000	0.499961	0.827798	-0.327837	9.454191	
1.253000	0.499911	0.823928	-0.324017	9.593911	
1.254000	0.499842	0.820033	-0.320191	9.733015	
1.255000	0.499753	0.816114	-0.316361	9.871498	
1.256000	0.499645	0.812171	-0.312526	10.009355	
1.257000	0.499516	0.808203	-0.308687	10.146579	
1.258000	0.499368	0.804212	-0.304843	10.283166	
1.259000	0.499201	0.800196	-0.300996	10.419111	
1.260000	0.499013	0.796157	-0.297144	10.554407	
1.261000	0.498806	0.792095	-0.293288	10.689049	
1.262000	0.498579	0.788009	-0.289429	10.823033	
1.263000	0.498333	0.783899	-0.285566	10.956353	
1.264000	0.498067	0.779767	-0.281700	11.089003	
1.265000	0.497781	0.775612	-0.277831	11.220979	
1.266000	0.497476	0.771434	-0.273959	11.352275	
1.267000	0.497150	0.767234	-0.270083	11.482886	
1.268000	0.496806	0.763011	-0.266205	11.612806	
1.269000	0.496441	0.758766	-0.262324	11.742032	
1.270000	0.496057	0.754499	-0.258441	11.870557	
1.271000	0.495654	0.750210	-0.254556	11.998376	
1.272000	0.495231	0.745899	-0.250668	12.125485	
1.273000	0.494788	0.741567	-0.246779	12.251879	
1.274000	0.494326	0.737213	-0.242887	12.377552	
1.275000	0.493844	0.732838	-0.238994	12.502499	
1.276000	0.493343	0.728442	-0.235099	12.626716	
1.277000	0.492822	0.724025	-0.231203	12.750198	
1.278000	0.492282	0.719588	-0.227306	12.872939	
1.279000	0.491723	0.715130	-0.223407	12.994935	
1.280000	0.491144	0.710652	-0.219508	13.116182	
1.281000	0.490545	0.706153	-0.215608	13.236674	
1.282000	0.489928	0.701635	-0.211707	13.356406	
1.283000	0.489290	0.697097	-0.207806	13.475374	
1.284000	0.488634	0.692539	-0.203905	13.593574	
1.285000	0.487958	0.687961	-0.200003	13.711000	
1.286000	0.487263	0.683365	-0.196101	13.827647	
1.287000	0.486549	0.678749	-0.192200	13.943512	
1.288000	0.485816	0.674115	-0.188299	14.058590	
1.289000	0.485063	0.669461	-0.184398	14.172876	
1.290000	0.484292	0.664789	-0.180498	14.286365	
1.291000	0.483501	0.660099	-0.176599	14.399053	
1.292000	0.482691	0.655391	-0.172700	14.510937	
1.293000	0.481862	0.650665	-0.168803	14.622010	
1.294000	0.481014	0.645921	-0.164907	14.732269	
1.295000	0.480147	0.641159	-0.161012	14.841710	
1.296000	0.479261	0.636380	-0.157119	14.950328	
1.297000	0.478356	0.631583	-0.153227	15.058119	
1.298000	0.477432	0.626770	-0.149338	15.165078	
1.299000	0.476490	0.621940	-0.145450	15.271202	
1.300000	0.475528	0.617093	-0.141565	15.376487	
1.301000	0.474548	0.612230	-0.137681	15.480927	
1.302000	0.473549	0.607350	-0.133801	15.584519	
1.303000	0.472532	0.602454	-0.129923	15.687259	
1.304000	0.471495	0.597543	-0.126047	15.789143	
1.305000	0.470440	0.592615	-0.122175	15.890167	
1.306000	0.469367	0.587672	-0.118306	15.990326	
1.307000	0.468275	0.582714	-0.114439	16.089618	
1.308000	0.467164	0.577741	-0.110577	16.188037	
1.309000	0.466036	0.572753	-0.106718	16.285580	
1.310000	0.464888	0.567750	-0.102862	16.382244	
1.311000	0.463723	0.562733	-0.099010	16.478024	
1.312000	0.462539	0.557701	-0.095163	16.572916	
1.313000	0.461336	0.552655	-0.091319	16.666918	
1.314000	0.460116	0.547596	-0.087480	16.760024	
1.315000	0.458877	0.542522	-0.083645	16.852232	
1.316000	0.457621	0.537435	-0.079815	16.943538	
1.317000	0.456346	0.532335	-0.075989	17.033938	
1.318000	0.455053	0.5