m= 0.84656489 22.

8572519

0 -22.857252
1 -22.010687
2 -21.164122
3 -20.317557
4 -19.470992
5 -18.624427
6 -17.777863
7 -16.931298
8 -16.084733
9 -15.238168
10 -14.391603
11 -13.545038
12 -12.698473
13 -11.851908
14 -11.005344
15 -10.158779
16 -9.3122137
17 -8.4656489
18 -7.619084
19 -6.7725191
20 -5.9259542
21 -5.0793893
22 -4.2328244
23 -3.3862595
24 -2.5396947
25 -1.6931298
26 -0.8465649
27 0
28 0.84656489
29 1.69312977
30 2.53969466
31 3.38625954
32 4.23282443
33 5.07938931
34 5.9259542
35 6.77251908
36 7.61908397
37 8.46564885
38 9.31221374
39 10.1587786
40 11.0053435
41 11.8519084
42 12.6984733
43 13.5450382
44 14.3916031
45 15.2381679
46 16.0847328
47 16.9312977
48 17.7778626
49 18.6244275
50 19.4709924
51 20.3175573
52 21.1641221
53 22.010687
54 22.8572519
55 23.7038168
56 24.5503817
57 25.3969466
58 26.2435115
59 27.0900763
60 27.9366412
61 28.7832061
62 29.629771
63 30.4763359
64 31.3229008
65 32.1694656
66 33.0160305
67 33.8625954
68 34.7091603
69 35.5557252
70 36.4022901
71 37.248855
72 38.0954198
73 38.9419847
74 39.7885496
75 40.6351145
76 41.4816794
77 42.3282443
78 43.1748092
79 44.021374
80 44.8679389
81 45.7145038
82 46.5610687
83 47.4076336
 84 48.2541985
85 49.1007634
86 49.9473282
87 50.7938931
88 51.640458
89 52.4870229
90 53.3335878
91 54.1801527
92 55.0267176
93 55.8732824
94 56.7198473
95 57.5664122
96 58.4129771
97 59.259542
98 60.1061069
99 60.9526718
100 61.7992366
101 62.6458015
102 63.4923664
103 64.3389313
104 65.1854962
105 66.0320611
106 66.878626
107 67.7251908
108 68.5717557
109 69.4183206
110 70.2648855
111 71.1114504
112 71.9580153
113 72.8045802
114 73.651145
115 74.4977099
116 75.3442748
117 76.1908397
118 77.0374046
119 77.8839695
120 78.7305344
121 79.5770992
122 80.4236641
123 81.270229
124 82.1167939
125 82.9633588
126 83.8099237
127 84.6564885
128 85.5030534
129 86.3496183
130 87.1961832
131 88.0427481
132 88.889313
133 89.7358779
134 90.5824427
135 91.4290076
136 92.2755725
137 93.1221374
138 93.9687023
139 94.8152672
140 95.6618321
141 96.5083969
142 97.3549618
143 98.2015267
144 99.0480916
145 99.8946565
146 100.741221
147 101.587786
148 102.434351
149 103.280916
150 104.127481
151 104.974046
152 105.820611
153 106.667176
154 107.51374
155 108.360305
156 109.20687
157 110.053435
158 110.9
159 111.746565
160 112.59313
161 113.439695
162 114.28626
163 115.132824
164 115.979389
165 116.825954
166 117.672519
167 118.519084
168 119.365649
169 120.212214
170 121.058779
171 121.905344
172 122.751908
173 123.598473
174 124.445038
175 125.291603
176 126.138168
177 126.984733
178 127.831298
179 128.677863
180 129.524427
181 130.370992
182 131.217557
183 132.064122
184 132.910687
185 133.757252
186 134.603817
187 135.450382
188 136.296947
189 137.143511
190 137.990076
191 138.836641
192 139.683206
193 140.529771
194 141.376336
195 142.222901
196 143.069466
197 143.916031
198 144.762595
199 145.60916
200 146.455725
201 147.30229
202 148.148855
203 148.99542
204 149.841985
205 150.68855
206 151.535115
207 152.381679
208 153.228244
209 154.074809
210 154.921374
211 155.767939
212 156.614504
 213 157.461069
214 158.307634
215 159.154198
216 160.000763
217 160.847328
218 161.693893
219 162.540458
220 163.387023
221 164.233588
222 165.080153
223 165.926718
224 166.773282
225 167.619847
226 168.466412
227 169.312977
228 170.159542
229 171.006107
230 171.852672
231 172.699237
232 173.545802
233 174.392366
234 175.238931
235 176.085496
235.195 176.250576

236 176.932061
237 177.778626
238 178.625191
239 179.471756
240 180.318321
241 181.164885
242 182.01145
243 182.858015
244 183.70458
245 184.551145
246 185.39771
247 186.244275
248 187.09084
249 187.937405
250 188.783969
251 189.630534
252 190.477099
253 191.323664
254 192.170229

255 193.016794
256 193.863359
257 194.709924
258 195.556489
259 196.403053
260 197.249618
261 198.096183
262 198.942748
263 199.789313
264 200.635878
265 201.482443
266 202.329008
267 203.175573
268 204.022137
269 204.868702
270 205.715267
271 206.561832
272 207.408397
273 208.254962
274 209.101527
275 209.948092
276 210.794656
277 211.641221
278 212.487786
279 213.334351
280 214.180916
281 215.027481
282 215.874046
283 216.720611
284 217.567176
285 218.41374
286 219.260305
287 220.10687
288 220.953435
289 221.8
290 222.646565
291 223.49313
292 224.339695
293 225.18626
294 226.032824
295 226.879389
296 227.725954
297 228.572519
298 229.419084
299 230.265649
300 231.112214
301 231.958779
302 232.805344
303 233.651908
304 234.498473
305 235.345038
306 236.191603
307 237.038168
308 237.884733
309 238.731298
310 239.577863
311 240.424427
312 241.270992
313 242.117557
314 242.964122
315 243.810687
316 244.657252
317 245.503817
318 246.350382
319 247.196947
320 248.043511
321 248.890076
322 249.736641
323 250.583206
324 251.429771
325 252.276336
326 253.122901
327 253.969466
328 254.816031
329 255.662595
330 256.50916
331 257.355725
332 258.20229
333 259.048855
334 259.89542
335 260.741985
336 261.58855
337 262.435115
338 263.281679
 339 264.128244
340 264.974809
341 265.821374
342 266.667939
343 267.514504
344 268.361069
345 269.207634
346 270.054198
347 270.900763
348 271.747328
349 272.593893
350 273.440458
351 274.287023
352 275.133588
352.1 275.218244
352.1937 275.297567

353 0
354 0
355 0
356 0
357 0
358 0
359 0
360 0
361 0
362 0
363 0
364 0
365 0
366 0
367 0
368 0
369 0
370 0
 Kp Ki Kd
P 6.39867681
PI 5.75880913 0.06398677
PID 7.67841217 0.14219282 103.658564

Kp Ki Kd
P 5.66411921
PI 5.09770729 0.05664119
PID 6.79694305 0.12586932 91.7587312
 T1 27
T2 235.195

dX 110
dY 149.75

Ko 6.39867681
Ko2 5.66411921

3.33333333

Kp
P 5.66411921
PI 5.09770729
PID 6.79694305

Ki Kd
PI 0.05664119
PID 0.12586932 91.7587312
 m= 0.76708861 20.7113924

0 -20.711392
208.195 1 -19.944304
2 -19.177215
Entrada 3 -18.410127
Salida 4 -17.643038
5 -16.875949
6 -16.108861
7 -15.341772
8 -14.574684
9 -13.807595
10 -13.040506
11 -12.273418
12 -11.506329
13 -10.739241
14 -9.9721519
15 -9.2050633
16 -8.4379747
17 -7.6708861
18 -6.9037975
Ti Td 19 -6.1367089
20 -5.3696203
90 21 -4.6025316
54 13.5 22 -3.835443
23 -3.0683544
24 -2.3012658
25 -1.5341772
26 -0.7670886
27 0
28 0.76708861
29 1.53417722
30 2.30126582
31 3.06835443
32 3.83544304
33 4.60253165
34 5.36962025
35 6.13670886
36 6.90379747
37 7.67088608
38 8.43797468
39 9.20506329
40 9.9721519
41 10.7392405
42 11.5063291
43 12.2734177
44 13.0405063
45 13.8075949
46 14.5746835
47 15.3417722
48 16.1088608
49 16.8759494
50 17.643038
51 18.4101266
52 19.1772152
53 19.9443038
54 20.7113924
55 21.478481
56 22.2455696
57 23.0126582
58 23.7797468
59 24.5468354
60 25.3139241
61 26.0810127
62 26.8481013
63 27.6151899
64 28.3822785
65 29.1493671
66 29.9164557
67 30.6835443
68 31.4506329
69 32.2177215
70 32.9848101
71 33.7518987
72 34.5189873
73 35.2860759
74 36.0531646
75 36.8202532
76 37.5873418
77 38.3544304
78 39.121519
79 39.8886076
80 40.6556962
81 41.4227848
82 42.1898734
83 42.956962
 84 43.7240506
85 44.4911392
86 45.2582278
87 46.0253165
88 46.7924051
89 47.5594937
90 48.3265823
91 49.0936709
92 49.8607595
93 50.6278481
94 51.3949367
95 52.1620253
96 52.9291139
97 53.6962025
98 54.4632911
99 55.2303797
100 55.9974684
101 56.764557
102 57.5316456
103 58.2987342
104 59.0658228
105 59.8329114
106 60.6
107 61.3670886
108 62.1341772
109 62.9012658
110 63.6683544
111 64.435443
112 65.2025316
113 65.9696203
114 66.7367089
115 67.5037975
116 68.2708861
117 69.0379747
118 69.8050633
119 70.5721519
120 71.3392405
121 72.1063291
122 72.8734177
123 73.6405063
124 74.4075949
125 75.1746835
126 75.9417722
127 76.7088608
128 77.4759494
129 78.243038
130 79.0101266
131 79.7772152
132 80.5443038
133 81.3113924
134 82.078481
135 82.8455696
136 83.6126582
137 84.3797468
138 85.1468354
139 85.9139241
140 86.6810127
141 87.4481013
142 88.2151899
143 88.9822785
144 89.7493671
145 90.5164557
146 91.2835443
147 92.0506329
148 92.8177215
149 93.5848101
150 94.3518987
151 95.1189873
152 95.8860759
153 96.6531646
154 97.4202532
155 98.1873418
156 98.9544304
157 99.721519
158 100.488608
159 101.255696
160 102.022785
161 102.789873
162 103.556962
163 104.324051
164 105.091139
165 105.858228
166 106.625316
167 107.392405
168 108.159494
169 108.926582
170 109.693671
171 110.460759
172 111.227848
173 111.994937
174 112.762025
175 113.529114
176 114.296203
177 115.063291
178 115.83038
179 116.597468
180 117.364557
181 118.131646
182 118.898734
183 119.665823
184 120.432911
185 121.2
186 121.967089
187 122.734177
188 123.501266
189 124.268354
190 125.035443
191 125.802532
192 126.56962
193 127.336709
194 128.103797
195 128.870886
196 129.637975
197 130.405063
198 131.172152
199 131.939241
200 132.706329
201 133.473418
202 134.240506
203 135.007595
204 135.774684
205 136.541772
206 137.308861
207 138.075949
208 138.843038
209 139.610127
210 140.377215
211 141.144304
212 141.911392
213 142.678481
214 143.44557
215 144.212658
216 144.979747
217 145.746835
218 146.513924
219 147.281013
220 148.048101
221 148.81519
222 149.582278
223 150.349367
224 151.116456
225 151.883544
226 152.650633
227 153.417722
228 154.18481
229 154.951899
230 155.718987
231 156.486076
232 157.253165
233 158.020253
234 158.787342
235 159.55443
236 160.321519
237 161.088608
238 161.855696
239 162.622785
240 163.389873
241 164.156962
242 164.924051
243 165.691139
244 166.458228
245 167.225316
246 167.992405
247 168.759494
248 169.526582
249 170.293671
250 171.060759
251 171.827848
252 172.594937
253 173.362025
254 174.129114
255 174.896203
 256 175.663291
256.765 176.250114
257 176.43038
258 177.197468
259 177.964557
260 178.731646
261 179.498734
262 180.265823
263 181.032911
264 181.8
265 182.567089
266 183.334177
267 184.101266
268 184.868354
269 185.635443
270 186.402532
271 187.16962
272 187.936709
273 188.703797
274 189.470886
275 190.237975
276 191.005063
277 191.772152
278 192.539241
279 193.306329
280 194.073418
281 194.840506
282 195.607595
283 196.374684
284 197.141772
285 197.908861
286 198.675949
287 199.443038
288 200.210127
289 200.977215
290 201.744304
291 202.511392
292 203.278481
293 204.04557
294 204.812658
295 205.579747
296 206.346835
297 207.113924
298 207.881013
299 208.648101
300 209.41519
301 210.182278
302 210.949367
303 211.716456
304 212.483544
305 213.250633
306 214.017722
307 214.78481
308 215.551899
309 216.318987
310 217.086076
311 217.853165
312 218.620253
313 219.387342
314 220.15443
315 220.921519
316 221.688608
317 222.455696
318 223.222785
319 223.989873
320 224.756962
321 225.524051
322 226.291139
323 227.058228
324 227.825316
325 228.592405
326 229.359494
327 230.126582
328 230.893671
329 231.660759
330 232.427848
331 233.194937
332 233.962025
333 234.729114
334 235.496203
335 236.263291
336 237.03038
337 237.797468
338 238.564557
339 239.331646
340 240.098734
341 240.865823
342 241.632911
343 242.4
344 243.167089
345 243.934177
346 244.701266
347 245.468354
348 246.235443
349 247.002532
350 247.76962
351 248.536709
352 249.303797
353 250.070886
354 250.837975
355 251.605063
356 252.372152

353 0
354 0
355 0
356 0
357 0
358 0
359 0
360 0
361 0
362 0
363 0
364 0
365 0
366 0
367 0
368 0
369 0
370 0
P
PI
PID

P
PI
PID
Kp Ki Kd
6.98550671
6.28695604 0.06985507
8.38260805 0.15523348 113.165209

Kp Ki Kd
6.25094911
5.6258542 0.06250949 3.33333333
7.50113894 0.13890998 101.265376

PI
PID
 T1 27
T2 256.765 229.765

dX 110 Entrada
dY 149.75 Salida

Ko 6.98550671
Ko2 6.25094911

Kp Ti Td
P 6.25094911
PI 5.6258542 90
PID 7.50113894 54 13.5

Ki Kd
0.06250949
0.13890998 101.265376
m= 0.59936709 -16.1829114 x1 27
10.3170886 x2 185
0 10.3170886 y1 26.5
1 10.9164557 y2 121.2
2 11.5158228
3 12.1151899
4 12.714557
5 13.3139241
6 13.9132911
7 14.5126582
8 15.1120253 Chart Title
9 15.7113924 200.00
10 16.3107595 180.00
11 16.9101266 160.00
12 17.5094937 140.00
13 18.1088608 120.00
14 18.7082278 100.00

15 19.3075949 80.00

16 19.906962 60.00

17 20.5063291 40.00

18 21.1056962 20.00
0.00
19 21.7050633 0 100 200 300 400 500 600 700 80
20 22.3044304
21 22.9037975
22 23.5031646
23 24.1025316
24 24.7018987
25 25.3012658
26 25.9006329
27 26.5
28 27.0993671
29 27.6987342
30 28.2981013
31 28.8974684
32 29.4968354
33 30.0962025
34 30.6955696
35 31.2949367
36 31.8943038
37 32.4936709
38 33.093038
39 33.6924051
40 34.2917722
41 34.8911392
42 35.4905063
43 36.0898734
44 36.6892405
45 37.2886076
46 37.8879747
47 38.4873418
48 39.0867089
49 39.6860759
50 40.285443
51 40.8848101
52 41.4841772
53 42.0835443
54 42.6829114
55 43.2822785
56 43.8816456
57 44.4810127
58 45.0803797
59 45.6797468
60 46.2791139
61 46.878481
62 47.4778481
63 48.0772152
64 48.6765823
65 49.2759494
66 49.8753165
67 50.4746835
68 51.0740506
69 51.6734177
70 52.2727848
71 52.8721519
72 53.471519
73 54.0708861
74 54.6702532
75 55.2696203
76 55.8689873
77 56.4683544
78 57.0677215
79 57.6670886
80 58.2664557
81 58.8658228
82 59.4651899
83 60.064557
 84 60.6639241
85 61.2632911
86 61.8626582
87 62.4620253
88 63.0613924
89 63.6607595
90 64.2601266
91 64.8594937
92 65.4588608
93 66.0582278
94 66.6575949
95 67.256962
96 67.8563291
97 68.4556962
98 69.0550633
99 69.6544304
100 70.2537975
101 70.8531646
102 71.4525316
103 72.0518987
104 72.6512658
105 73.2506329
106 73.85
107 74.4493671
108 75.0487342
109 75.6481013
110 76.2474684
111 76.8468354
112 77.4462025
113 78.0455696
114 78.6449367
115 79.2443038
116 79.8436709
117 80.443038
118 81.0424051
119 81.6417722
120 82.2411392
121 82.8405063
122 83.4398734
123 84.0392405
124 84.6386076
125 85.2379747
126 85.8373418
127 86.4367089
128 87.0360759
129 87.635443
130 88.2348101
131 88.8341772
132 89.4335443
133 90.0329114
134 90.6322785
135 91.2316456
136 91.8310127
137 92.4303797
138 93.0297468
139 93.6291139
140 94.228481
141 94.8278481
142 95.4272152
143 96.0265823
144 96.6259494
145 97.2253165
146 97.8246835
147 98.4240506
148 99.0234177
149 99.6227848
150 100.222152
151 100.821519
152 101.420886
153 102.020253
154 102.61962
155 103.218987
156 103.818354
157 104.417722
158 105.017089
159 105.616456
160 106.215823
161 106.81519
162 107.414557
163 108.013924
164 108.613291
165 109.212658
166 109.812025
167 110.411392
168 111.010759
169 111.610127
170 112.209494
171 112.808861
172 113.408228
173 114.007595
174 114.606962
175 115.206329
176 115.805696
177 116.405063
178 117.00443
179 117.603797
180 118.203165
181 118.802532
182 119.401899
183 120.001266
184 120.600633
185 121.2
186 121.799367
187 122.398734
188 122.998101
189 123.597468
190 124.196835
191 124.796203
192 125.39557
193 125.994937
194 126.594304
195 127.193671
196 127.793038
197 128.392405
198 128.991772
199 129.591139
200 130.190506
201 130.789873
202 131.389241
203 131.988608
204 132.587975
205 133.187342
206 133.786709
207 134.386076
208 134.985443
209 135.58481
210 136.184177
211 136.783544
212 137.382911
 213 137.982278
214 138.581646
215 139.181013
216 139.78038
217 140.379747
218 140.979114
219 141.578481
220 142.177848
221 142.777215
222 143.376582
223 143.975949
224 144.575316
225 145.174684
226 145.774051
227 146.373418
228 146.972785
229 147.572152
230 148.171519
231 148.770886
232 149.370253
233 149.96962
234 150.568987
235 151.168354
235.195 151.285231

236 176.932061
237 177.778626
238 178.625191
239 179.471756
240 180.318321
241 181.164885
242 182.01145
243 182.858015
244 183.70458
245 184.551145
246 185.39771
247 186.244275
248 187.09084
249 187.937405
250 188.783969
251 189.630534
252 190.477099
253 191.323664
254 192.170229

255 193.016794
256 193.863359
257 194.709924
258 195.556489
259 196.403053
260 197.249618
261 198.096183
262 198.942748
263 199.789313
264 200.635878
265 201.482443
266 202.329008
267 203.175573
268 204.022137
269 204.868702
270 205.715267
271 206.561832
272 207.408397
273 208.254962
274 209.101527
275 209.948092
276 210.794656
277 211.641221
278 212.487786
279 213.334351
280 214.180916
281 215.027481
282 215.874046
283 216.720611
284 217.567176
285 218.41374
286 219.260305
287 220.10687
288 220.953435
289 221.8
290 222.646565
291 223.49313
292 224.339695
293 225.18626
294 226.032824
295 226.879389
296 227.725954
297 228.572519
298 229.419084
299 230.265649
300 231.112214
301 231.958779
302 232.805344
303 233.651908
304 234.498473
305 235.345038
306 236.191603
307 237.038168
308 237.884733
309 238.731298
310 239.577863
311 240.424427
312 241.270992
313 242.117557
314 242.964122
315 243.810687
316 244.657252
317 245.503817
318 246.350382
319 247.196947
320 248.043511
321 248.890076
322 249.736641
323 250.583206
324 251.429771
325 252.276336
326 253.122901
327 253.969466
328 254.816031
329 255.662595
330 256.50916
331 257.355725
332 258.20229
333 259.048855
334 259.89542
335 260.741985
336 261.58855
337 262.435115
338 263.281679
 339 264.128244
340 264.974809
341 265.821374
342 266.667939
343 267.514504
344 268.361069
345 269.207634
346 270.054198
347 270.900763
348 271.747328
349 272.593893
350 273.440458
351 274.287023
352 275.133588
352.1 275.218244
352.1937 275.297567

353 0
354 0
355 0
356 0
357 0
358 0
359 0
360 0
361 0
362 0
363 0
364 0
365 0
366 0
367 0
368 0
369 0
370 0
 Kp Ki Kd
tle P 6.39867681
PI 5.75880913 0.06398677
PID 7.67841217 0.14219282 103.658564

Kp Ki Kd
P 5.66411921
PI 5.09770729 0.05664119
PID 6.79694305 0.12586932 91.7587312

600 700 800 900 1000

 T1 27
T2 235.195

dX 110
dY 149.75

Ko 6.39867681
Ko2 5.66411921

3.33333333

Kp
P 5.66411921
PI 5.09770729
PID 6.79694305

Ki Kd
PI 0.05664119
PID 0.12586932 91.7587312
 208.195

Entrada
Salida

Ti Td

90
54 13.5