pyCBD/experiments/AGV/tuning8.log

Kp = 0.00, Ki = 0.00, Kd = 0.00; error = 0.000000
Kp = 0.01, Ki = 0.00, Kd = 0.00; error = -4376721.597653
Kp = 0.02, Ki = 0.00, Kd = 0.00; error = -40135996.725252
Kp = 0.03, Ki = 0.00, Kd = 0.00; error = -5273577.620068
Kp = 0.04, Ki = 0.00, Kd = 0.00; error = -29823084.834680
Kp = 0.05, Ki = 0.00, Kd = 0.00; error = -203316740.865891
Kp = 0.06, Ki = 0.00, Kd = 0.00; error = -232599280.586769
Kp = 0.07, Ki = 0.00, Kd = 0.00; error = -341615962.377987
Kp = 0.08, Ki = 0.00, Kd = 0.00; error = -248855413.430796
Kp = 0.09, Ki = 0.00, Kd = 0.00; error = -269363727.659354
Kp = 0.00, Ki = 0.00, Kd = 0.01; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.01; error = -2591012.954633
Kp = 0.02, Ki = 0.00, Kd = 0.01; error = -923323.137163
Kp = 0.03, Ki = 0.00, Kd = 0.01; error = -4052981.089073
Kp = 0.04, Ki = 0.00, Kd = 0.01; error = -1906017.709038
Kp = 0.05, Ki = 0.00, Kd = 0.01; error = -69959646.083367
Kp = 0.06, Ki = 0.00, Kd = 0.01; error = -157168485.756397
Kp = 0.07, Ki = 0.00, Kd = 0.01; error = -111595331.140607
Kp = 0.08, Ki = 0.00, Kd = 0.01; error = -248855413.430796
Kp = 0.09, Ki = 0.00, Kd = 0.01; error = -269363727.659354
Kp = 0.00, Ki = 0.00, Kd = 0.02; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.02; error = -1762866.854177
Kp = 0.02, Ki = 0.00, Kd = 0.02; error = -956996.770337
Kp = 0.03, Ki = 0.00, Kd = 0.02; error = -300979.530971
Kp = 0.04, Ki = 0.00, Kd = 0.02; error = -2141503.836727
Kp = 0.05, Ki = 0.00, Kd = 0.02; error = -105108585.173360
Kp = 0.06, Ki = 0.00, Kd = 0.02; error = -69346636.032911
Kp = 0.07, Ki = 0.00, Kd = 0.02; error = -108330266.370024
Kp = 0.08, Ki = 0.00, Kd = 0.02; error = -248855413.430796
Kp = 0.09, Ki = 0.00, Kd = 0.02; error = -269363727.659354
Kp = 0.00, Ki = 0.00, Kd = 0.03; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.03; error = -1783064.596122
Kp = 0.02, Ki = 0.00, Kd = 0.03; error = -808955.048067
Kp = 0.03, Ki = 0.00, Kd = 0.03; error = -1132900.063527
Kp = 0.04, Ki = 0.00, Kd = 0.03; error = -2245233.911580
Kp = 0.05, Ki = 0.00, Kd = 0.03; error = -7592726.247365
Kp = 0.06, Ki = 0.00, Kd = 0.03; error = -89088235.703410
Kp = 0.07, Ki = 0.00, Kd = 0.03; error = -105343095.849573
Kp = 0.08, Ki = 0.00, Kd = 0.03; error = -248855413.430796
Kp = 0.09, Ki = 0.00, Kd = 0.03; error = -269363727.659354
Kp = 0.00, Ki = 0.00, Kd = 0.04; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.04; error = -3059763.883571
Kp = 0.02, Ki = 0.00, Kd = 0.04; error = -369003.937765
Kp = 0.03, Ki = 0.00, Kd = 0.04; error = -1432962.225813
Kp = 0.04, Ki = 0.00, Kd = 0.04; error = -2685768.006256
Kp = 0.05, Ki = 0.00, Kd = 0.04; error = -48761880.149278
Kp = 0.06, Ki = 0.00, Kd = 0.04; error = -89088235.703410
Kp = 0.07, Ki = 0.00, Kd = 0.04; error = -102721389.028368
Kp = 0.08, Ki = 0.00, Kd = 0.04; error = -248855413.430796
Kp = 0.09, Ki = 0.00, Kd = 0.04; error = -269363727.659354
Kp = 0.00, Ki = 0.00, Kd = 0.05; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.05; error = -1732932.772169
Kp = 0.02, Ki = 0.00, Kd = 0.05; error = -901820.333816
Kp = 0.03, Ki = 0.00, Kd = 0.05; error = -1841016.709627
Kp = 0.04, Ki = 0.00, Kd = 0.05; error = -2276729.771802
Kp = 0.05, Ki = 0.00, Kd = 0.05; error = -4955407.217703
Kp = 0.06, Ki = 0.00, Kd = 0.05; error = -89088235.703410
Kp = 0.07, Ki = 0.00, Kd = 0.05; error = -100554725.161267
Kp = 0.08, Ki = 0.00, Kd = 0.05; error = -248855413.430796
Kp = 0.09, Ki = 0.00, Kd = 0.05; error = -269363727.659354
Kp = 0.00, Ki = 0.00, Kd = 0.06; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.06; error = -1496139.712151
Kp = 0.02, Ki = 0.00, Kd = 0.06; error = -1028601.923260
Kp = 0.03, Ki = 0.00, Kd = 0.06; error = -828926.197248
Kp = 0.04, Ki = 0.00, Kd = 0.06; error = -4740158.818463
Kp = 0.05, Ki = 0.00, Kd = 0.06; error = -84117363.017163
Kp = 0.06, Ki = 0.00, Kd = 0.06; error = -89088235.703410
Kp = 0.07, Ki = 0.00, Kd = 0.06; error = -128361201.548697
Kp = 0.08, Ki = 0.00, Kd = 0.06; error = -248855413.430796
Kp = 0.09, Ki = 0.00, Kd = 0.06; error = -269363727.659354
Kp = 0.00, Ki = 0.00, Kd = 0.07; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.07; error = -1340213.942405
Kp = 0.02, Ki = 0.00, Kd = 0.07; error = -478569.923022
Kp = 0.03, Ki = 0.00, Kd = 0.07; error = -772686.107686
Kp = 0.04, Ki = 0.00, Kd = 0.07; error = -1445447.147287
Kp = 0.05, Ki = 0.00, Kd = 0.07; error = -11381518.560889
Kp = 0.06, Ki = 0.00, Kd = 0.07; error = -89088235.703410
Kp = 0.07, Ki = 0.00, Kd = 0.07; error = -72600810.832070
Kp = 0.08, Ki = 0.00, Kd = 0.07; error = -248855413.430796
Kp = 0.09, Ki = 0.00, Kd = 0.07; error = -269363727.659354
Kp = 0.00, Ki = 0.00, Kd = 0.08; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.08; error = -2073671.649979
Kp = 0.02, Ki = 0.00, Kd = 0.08; error = -1375491.308069
Kp = 0.03, Ki = 0.00, Kd = 0.08; error = -928870.366192
Kp = 0.04, Ki = 0.00, Kd = 0.08; error = -1920901.826185
Kp = 0.05, Ki = 0.00, Kd = 0.08; error = -68927650.400066
Kp = 0.06, Ki = 0.00, Kd = 0.08; error = -89088235.703410
Kp = 0.07, Ki = 0.00, Kd = 0.08; error = -87896877.962797
Kp = 0.08, Ki = 0.00, Kd = 0.08; error = -248855413.430796
Kp = 0.09, Ki = 0.00, Kd = 0.08; error = -269363727.659354
Kp = 0.00, Ki = 0.00, Kd = 0.09; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.09; error = -3053260.814236
Kp = 0.02, Ki = 0.00, Kd = 0.09; error = -541198.551635
Kp = 0.03, Ki = 0.00, Kd = 0.09; error = -9499822.316541
Kp = 0.04, Ki = 0.00, Kd = 0.09; error = -1965438.328704
Kp = 0.05, Ki = 0.00, Kd = 0.09; error = -57567154.313236
Kp = 0.06, Ki = 0.00, Kd = 0.09; error = -89088235.703410
Kp = 0.07, Ki = 0.00, Kd = 0.09; error = -87896877.962797
Kp = 0.08, Ki = 0.00, Kd = 0.09; error = -248855413.430796
Kp = 0.09, Ki = 0.00, Kd = 0.09; error = -269363727.659354
Kp = 0.00, Ki = 0.01, Kd = 0.00; error = -85059018.697396
Kp = 0.01, Ki = 0.01, Kd = 0.00; error = -84290889.742987
Kp = 0.02, Ki = 0.01, Kd = 0.00; error = -161330704.110644
Kp = 0.03, Ki = 0.01, Kd = 0.00; error = -179467821.893822
Kp = 0.04, Ki = 0.01, Kd = 0.00; error = -218735089.319948
Kp = 0.05, Ki = 0.01, Kd = 0.00; error = -203944859.090618
Kp = 0.06, Ki = 0.01, Kd = 0.00; error = -245402928.834295
Kp = 0.07, Ki = 0.01, Kd = 0.00; error = -233691964.112105
Kp = 0.08, Ki = 0.01, Kd = 0.00; error = -261900963.167337
Kp = 0.09, Ki = 0.01, Kd = 0.00; error = -345650477.406845
Kp = 0.00, Ki = 0.01, Kd = 0.01; error = -139708067.715248
Kp = 0.01, Ki = 0.01, Kd = 0.01; error = -100657272.249365
Kp = 0.02, Ki = 0.01, Kd = 0.01; error = -90093311.801654
Kp = 0.03, Ki = 0.01, Kd = 0.01; error = -44604618.582587
Kp = 0.04, Ki = 0.01, Kd = 0.01; error = -157379392.004090
Kp = 0.05, Ki = 0.01, Kd = 0.01; error = -63990107.298327
Kp = 0.06, Ki = 0.01, Kd = 0.01; error = -230202306.817375
Kp = 0.07, Ki = 0.01, Kd = 0.01; error = -173426224.394961
Kp = 0.08, Ki = 0.01, Kd = 0.01; error = -250505570.202963
Kp = 0.09, Ki = 0.01, Kd = 0.01; error = -345650477.406845
Kp = 0.00, Ki = 0.01, Kd = 0.02; error = -36587790.059067
Kp = 0.01, Ki = 0.01, Kd = 0.02; error = -102307814.195246
Kp = 0.02, Ki = 0.01, Kd = 0.02; error = -51673806.921146
Kp = 0.03, Ki = 0.01, Kd = 0.02; error = -44604618.582587
Kp = 0.04, Ki = 0.01, Kd = 0.02; error = -157379392.004090
Kp = 0.05, Ki = 0.01, Kd = 0.02; error = -125338652.748748
Kp = 0.06, Ki = 0.01, Kd = 0.02; error = -90237446.669398
Kp = 0.07, Ki = 0.01, Kd = 0.02; error = -173426224.394961
Kp = 0.08, Ki = 0.01, Kd = 0.02; error = -250505570.202963
Kp = 0.09, Ki = 0.01, Kd = 0.02; error = -345650477.406845
Kp = 0.00, Ki = 0.01, Kd = 0.03; error = -60083840.413595
Kp = 0.01, Ki = 0.01, Kd = 0.03; error = -103832706.212026
Kp = 0.02, Ki = 0.01, Kd = 0.03; error = -51673806.921146
Kp = 0.03, Ki = 0.01, Kd = 0.03; error = -44604618.582587
Kp = 0.04, Ki = 0.01, Kd = 0.03; error = -157379392.004090
Kp = 0.05, Ki = 0.01, Kd = 0.03; error = -126371933.331627
Kp = 0.06, Ki = 0.01, Kd = 0.03; error = -71029252.622064
Kp = 0.07, Ki = 0.01, Kd = 0.03; error = -173426224.394961
Kp = 0.08, Ki = 0.01, Kd = 0.03; error = -250505570.202963
Kp = 0.09, Ki = 0.01, Kd = 0.03; error = -345650477.406845
Kp = 0.00, Ki = 0.01, Kd = 0.04; error = -116105742.707024
Kp = 0.01, Ki = 0.01, Kd = 0.04; error = -105218704.519606
Kp = 0.02, Ki = 0.01, Kd = 0.04; error = -51673806.921146
Kp = 0.03, Ki = 0.01, Kd = 0.04; error = -44604618.582587
Kp = 0.04, Ki = 0.01, Kd = 0.04; error = -157379392.004090
Kp = 0.05, Ki = 0.01, Kd = 0.04; error = -127067755.508891
Kp = 0.06, Ki = 0.01, Kd = 0.04; error = -71029252.622064
Kp = 0.07, Ki = 0.01, Kd = 0.04; error = -173426224.394961
Kp = 0.08, Ki = 0.01, Kd = 0.04; error = -250505570.202963
Kp = 0.09, Ki = 0.01, Kd = 0.04; error = -345650477.406845
Kp = 0.00, Ki = 0.01, Kd = 0.05; error = -116826434.773091
Kp = 0.01, Ki = 0.01, Kd = 0.05; error = -104544604.173399
Kp = 0.02, Ki = 0.01, Kd = 0.05; error = -51673806.921146
Kp = 0.03, Ki = 0.01, Kd = 0.05; error = -44604618.582587
Kp = 0.04, Ki = 0.01, Kd = 0.05; error = -157379392.004090
Kp = 0.05, Ki = 0.01, Kd = 0.05; error = -127423593.205865
Kp = 0.06, Ki = 0.01, Kd = 0.05; error = -71029252.622064
Kp = 0.07, Ki = 0.01, Kd = 0.05; error = -173426224.394961
Kp = 0.08, Ki = 0.01, Kd = 0.05; error = -250505570.202963
Kp = 0.09, Ki = 0.01, Kd = 0.05; error = -345650477.406845
Kp = 0.00, Ki = 0.01, Kd = 0.06; error = -4844090.960746
Kp = 0.01, Ki = 0.01, Kd = 0.06; error = -106806708.032341
Kp = 0.02, Ki = 0.01, Kd = 0.06; error = -51673806.921146
Kp = 0.03, Ki = 0.01, Kd = 0.06; error = -44604618.582587
Kp = 0.04, Ki = 0.01, Kd = 0.06; error = -157379392.004090
Kp = 0.05, Ki = 0.01, Kd = 0.06; error = -127441811.594968
Kp = 0.06, Ki = 0.01, Kd = 0.06; error = -71029252.622064
Kp = 0.07, Ki = 0.01, Kd = 0.06; error = -173426224.394961
Kp = 0.08, Ki = 0.01, Kd = 0.06; error = -250505570.202963
Kp = 0.09, Ki = 0.01, Kd = 0.06; error = -345650477.406845
Kp = 0.00, Ki = 0.01, Kd = 0.07; error = -5973343.332458
Kp = 0.01, Ki = 0.01, Kd = 0.07; error = -156459172.311776
Kp = 0.02, Ki = 0.01, Kd = 0.07; error = -51673806.921146
Kp = 0.03, Ki = 0.01, Kd = 0.07; error = -44604618.582587
Kp = 0.04, Ki = 0.01, Kd = 0.07; error = -157379392.004090
Kp = 0.05, Ki = 0.01, Kd = 0.07; error = -127129216.736116
Kp = 0.06, Ki = 0.01, Kd = 0.07; error = -71029252.622064
Kp = 0.07, Ki = 0.01, Kd = 0.07; error = -173426224.394961
Kp = 0.08, Ki = 0.01, Kd = 0.07; error = -250505570.202963
Kp = 0.09, Ki = 0.01, Kd = 0.07; error = -345650477.406845
Kp = 0.00, Ki = 0.01, Kd = 0.08; error = -4229783.955524
Kp = 0.01, Ki = 0.01, Kd = 0.08; error = -116685642.614004
Kp = 0.02, Ki = 0.01, Kd = 0.08; error = -51673806.921146
Kp = 0.03, Ki = 0.01, Kd = 0.08; error = -44604618.582587
Kp = 0.04, Ki = 0.01, Kd = 0.08; error = -157379392.004090
Kp = 0.05, Ki = 0.01, Kd = 0.08; error = -126496588.727227
Kp = 0.06, Ki = 0.01, Kd = 0.08; error = -71029252.622064
Kp = 0.07, Ki = 0.01, Kd = 0.08; error = -173426224.394961
Kp = 0.08, Ki = 0.01, Kd = 0.08; error = -250505570.202963
Kp = 0.09, Ki = 0.01, Kd = 0.08; error = -345650477.406845
Kp = 0.00, Ki = 0.01, Kd = 0.09; error = -68968142.858972
Kp = 0.01, Ki = 0.01, Kd = 0.09; error = -116685642.614004
Kp = 0.02, Ki = 0.01, Kd = 0.09; error = -51673806.921146
Kp = 0.03, Ki = 0.01, Kd = 0.09; error = -44604618.582587
Kp = 0.04, Ki = 0.01, Kd = 0.09; error = -157379392.004090
Kp = 0.05, Ki = 0.01, Kd = 0.09; error = -125558220.216944
Kp = 0.06, Ki = 0.01, Kd = 0.09; error = -71029252.622064
Kp = 0.07, Ki = 0.01, Kd = 0.09; error = -173426224.394961
Kp = 0.08, Ki = 0.01, Kd = 0.09; error = -250505570.202963
Kp = 0.09, Ki = 0.01, Kd = 0.09; error = -345650477.406845
Kp = 0.00, Ki = 0.02, Kd = 0.00; error = -271746630.758076
Kp = 0.01, Ki = 0.02, Kd = 0.00; error = -174980811.231968
Kp = 0.02, Ki = 0.02, Kd = 0.00; error = -144321272.816663
Kp = 0.03, Ki = 0.02, Kd = 0.00; error = -210983950.889565
Kp = 0.04, Ki = 0.02, Kd = 0.00; error = -145081264.524840
Kp = 0.05, Ki = 0.02, Kd = 0.00; error = -204325428.816247
Kp = 0.06, Ki = 0.02, Kd = 0.00; error = -236419475.688050
Kp = 0.07, Ki = 0.02, Kd = 0.00; error = -285675215.138126
Kp = 0.08, Ki = 0.02, Kd = 0.00; error = -286101713.776464
Kp = 0.09, Ki = 0.02, Kd = 0.00; error = -318470020.165919
Kp = 0.00, Ki = 0.02, Kd = 0.01; error = -105667997.922351
Kp = 0.01, Ki = 0.02, Kd = 0.01; error = -90853619.293205
Kp = 0.02, Ki = 0.02, Kd = 0.01; error = -64141565.644507
Kp = 0.03, Ki = 0.02, Kd = 0.01; error = -70772058.079886
Kp = 0.04, Ki = 0.02, Kd = 0.01; error = -158214253.698771
Kp = 0.05, Ki = 0.02, Kd = 0.01; error = -219299203.040621
Kp = 0.06, Ki = 0.02, Kd = 0.01; error = -243392981.305872
Kp = 0.07, Ki = 0.02, Kd = 0.01; error = -217279554.647459
Kp = 0.08, Ki = 0.02, Kd = 0.01; error = -252239792.727999
Kp = 0.09, Ki = 0.02, Kd = 0.01; error = -318470020.165919
Kp = 0.00, Ki = 0.02, Kd = 0.02; error = -24882142.022570
Kp = 0.01, Ki = 0.02, Kd = 0.02; error = -100331841.277971
Kp = 0.02, Ki = 0.02, Kd = 0.02; error = -64141565.644507
Kp = 0.03, Ki = 0.02, Kd = 0.02; error = -70772058.079886
Kp = 0.04, Ki = 0.02, Kd = 0.02; error = -158214253.698771
Kp = 0.05, Ki = 0.02, Kd = 0.02; error = -219299203.040621
Kp = 0.06, Ki = 0.02, Kd = 0.02; error = -66463917.691938
Kp = 0.07, Ki = 0.02, Kd = 0.02; error = -217279554.647459
Kp = 0.08, Ki = 0.02, Kd = 0.02; error = -252239792.727999
Kp = 0.09, Ki = 0.02, Kd = 0.02; error = -318470020.165919
Kp = 0.00, Ki = 0.02, Kd = 0.03; error = -25233065.708140
Kp = 0.01, Ki = 0.02, Kd = 0.03; error = -100331841.277971
Kp = 0.02, Ki = 0.02, Kd = 0.03; error = -64141565.644507
Kp = 0.03, Ki = 0.02, Kd = 0.03; error = -70772058.079886
Kp = 0.04, Ki = 0.02, Kd = 0.03; error = -158214253.698771
Kp = 0.05, Ki = 0.02, Kd = 0.03; error = -219299203.040621
Kp = 0.06, Ki = 0.02, Kd = 0.03; error = -66463917.691938
Kp = 0.07, Ki = 0.02, Kd = 0.03; error = -217279554.647459
Kp = 0.08, Ki = 0.02, Kd = 0.03; error = -252239792.727999
Kp = 0.09, Ki = 0.02, Kd = 0.03; error = -318470020.165919
Kp = 0.00, Ki = 0.02, Kd = 0.04; error = -17782647.753913
Kp = 0.01, Ki = 0.02, Kd = 0.04; error = -100331841.277971
Kp = 0.02, Ki = 0.02, Kd = 0.04; error = -64141565.644507
Kp = 0.03, Ki = 0.02, Kd = 0.04; error = -70772058.079886
Kp = 0.04, Ki = 0.02, Kd = 0.04; error = -158214253.698771
Kp = 0.05, Ki = 0.02, Kd = 0.04; error = -219299203.040621
Kp = 0.06, Ki = 0.02, Kd = 0.04; error = -66463917.691938
Kp = 0.07, Ki = 0.02, Kd = 0.04; error = -217279554.647459
Kp = 0.08, Ki = 0.02, Kd = 0.04; error = -252239792.727999
Kp = 0.09, Ki = 0.02, Kd = 0.04; error = -318470020.165919
Kp = 0.00, Ki = 0.02, Kd = 0.05; error = -31789857.028405
Kp = 0.01, Ki = 0.02, Kd = 0.05; error = -100331841.277971
Kp = 0.02, Ki = 0.02, Kd = 0.05; error = -64141565.644507
Kp = 0.03, Ki = 0.02, Kd = 0.05; error = -70772058.079886
Kp = 0.04, Ki = 0.02, Kd = 0.05; error = -158214253.698771
Kp = 0.05, Ki = 0.02, Kd = 0.05; error = -219299203.040621
Kp = 0.06, Ki = 0.02, Kd = 0.05; error = -66463917.691938
Kp = 0.07, Ki = 0.02, Kd = 0.05; error = -217279554.647459
Kp = 0.08, Ki = 0.02, Kd = 0.05; error = -252239792.727999
Kp = 0.09, Ki = 0.02, Kd = 0.05; error = -318470020.165919
Kp = 0.00, Ki = 0.02, Kd = 0.06; error = -15253158.499924
Kp = 0.01, Ki = 0.02, Kd = 0.06; error = -100331841.277971
Kp = 0.02, Ki = 0.02, Kd = 0.06; error = -64141565.644507
Kp = 0.03, Ki = 0.02, Kd = 0.06; error = -70772058.079886
Kp = 0.04, Ki = 0.02, Kd = 0.06; error = -158214253.698771
Kp = 0.05, Ki = 0.02, Kd = 0.06; error = -219299203.040621
Kp = 0.06, Ki = 0.02, Kd = 0.06; error = -66463917.691938
Kp = 0.07, Ki = 0.02, Kd = 0.06; error = -217279554.647459
Kp = 0.08, Ki = 0.02, Kd = 0.06; error = -252239792.727999
Kp = 0.09, Ki = 0.02, Kd = 0.06; error = -318470020.165919
Kp = 0.00, Ki = 0.02, Kd = 0.07; error = -14756434.499397
Kp = 0.01, Ki = 0.02, Kd = 0.07; error = -100331841.277971
Kp = 0.02, Ki = 0.02, Kd = 0.07; error = -64141565.644507
Kp = 0.03, Ki = 0.02, Kd = 0.07; error = -70772058.079886
Kp = 0.04, Ki = 0.02, Kd = 0.07; error = -158214253.698771
Kp = 0.05, Ki = 0.02, Kd = 0.07; error = -219299203.040621
Kp = 0.06, Ki = 0.02, Kd = 0.07; error = -66463917.691938
Kp = 0.07, Ki = 0.02, Kd = 0.07; error = -217279554.647459
Kp = 0.08, Ki = 0.02, Kd = 0.07; error = -252239792.727999
Kp = 0.09, Ki = 0.02, Kd = 0.07; error = -318470020.165919
Kp = 0.00, Ki = 0.02, Kd = 0.08; error = -107621092.555073
Kp = 0.01, Ki = 0.02, Kd = 0.08; error = -100331841.277971
Kp = 0.02, Ki = 0.02, Kd = 0.08; error = -64141565.644507
Kp = 0.03, Ki = 0.02, Kd = 0.08; error = -70772058.079886
Kp = 0.04, Ki = 0.02, Kd = 0.08; error = -158214253.698771
Kp = 0.05, Ki = 0.02, Kd = 0.08; error = -219299203.040621
Kp = 0.06, Ki = 0.02, Kd = 0.08; error = -66463917.691938
Kp = 0.07, Ki = 0.02, Kd = 0.08; error = -217279554.647459
Kp = 0.08, Ki = 0.02, Kd = 0.08; error = -252239792.727999
Kp = 0.09, Ki = 0.02, Kd = 0.08; error = -318470020.165919
Kp = 0.00, Ki = 0.02, Kd = 0.09; error = -96320183.615074
Kp = 0.01, Ki = 0.02, Kd = 0.09; error = -100331841.277971
Kp = 0.02, Ki = 0.02, Kd = 0.09; error = -64141565.644507
Kp = 0.03, Ki = 0.02, Kd = 0.09; error = -70772058.079886
Kp = 0.04, Ki = 0.02, Kd = 0.09; error = -158214253.698771
Kp = 0.05, Ki = 0.02, Kd = 0.09; error = -219299203.040621
Kp = 0.06, Ki = 0.02, Kd = 0.09; error = -66463917.691938
Kp = 0.07, Ki = 0.02, Kd = 0.09; error = -217279554.647459
Kp = 0.08, Ki = 0.02, Kd = 0.09; error = -252239792.727999
Kp = 0.09, Ki = 0.02, Kd = 0.09; error = -318470020.165919
Kp = 0.00, Ki = 0.03, Kd = 0.00; error = -314689536.470383
Kp = 0.01, Ki = 0.03, Kd = 0.00; error = -242072764.804620
Kp = 0.02, Ki = 0.03, Kd = 0.00; error = -170401495.493401
Kp = 0.03, Ki = 0.03, Kd = 0.00; error = -98877727.864103
Kp = 0.04, Ki = 0.03, Kd = 0.00; error = -169357691.181933
Kp = 0.05, Ki = 0.03, Kd = 0.00; error = -256620668.797864
Kp = 0.06, Ki = 0.03, Kd = 0.00; error = -271326179.116852
Kp = 0.07, Ki = 0.03, Kd = 0.00; error = -314004171.803804
Kp = 0.08, Ki = 0.03, Kd = 0.00; error = -306457750.842797
Kp = 0.09, Ki = 0.03, Kd = 0.00; error = 293505919.088243
Kp = 0.00, Ki = 0.03, Kd = 0.01; error = -121611210.403413
Kp = 0.01, Ki = 0.03, Kd = 0.01; error = -95527511.977749
Kp = 0.02, Ki = 0.03, Kd = 0.01; error = -74276618.158418
Kp = 0.03, Ki = 0.03, Kd = 0.01; error = -168449701.271409
Kp = 0.04, Ki = 0.03, Kd = 0.01; error = -143266539.416228
Kp = 0.05, Ki = 0.03, Kd = 0.01; error = -135530509.174716
Kp = 0.06, Ki = 0.03, Kd = 0.01; error = -176230519.212799
Kp = 0.07, Ki = 0.03, Kd = 0.01; error = -235435240.013805
Kp = 0.08, Ki = 0.03, Kd = 0.01; error = -250299810.546749
Kp = 0.09, Ki = 0.03, Kd = 0.01; error = 293505919.088243
Kp = 0.00, Ki = 0.03, Kd = 0.02; error = -83556007.784733
Kp = 0.01, Ki = 0.03, Kd = 0.02; error = -66766978.049797
Kp = 0.02, Ki = 0.03, Kd = 0.02; error = -50054485.566514
Kp = 0.03, Ki = 0.03, Kd = 0.02; error = -168449701.271409
Kp = 0.04, Ki = 0.03, Kd = 0.02; error = -143266539.416228
Kp = 0.05, Ki = 0.03, Kd = 0.02; error = -135530509.174716
Kp = 0.06, Ki = 0.03, Kd = 0.02; error = -152488068.104613
Kp = 0.07, Ki = 0.03, Kd = 0.02; error = -235435240.013805
Kp = 0.08, Ki = 0.03, Kd = 0.02; error = -250299810.546749
Kp = 0.09, Ki = 0.03, Kd = 0.02; error = 293505919.088243
Kp = 0.00, Ki = 0.03, Kd = 0.03; error = -83556007.784733
Kp = 0.01, Ki = 0.03, Kd = 0.03; error = -74080331.389847
Kp = 0.02, Ki = 0.03, Kd = 0.03; error = -75718431.749905
Kp = 0.03, Ki = 0.03, Kd = 0.03; error = -168449701.271409
Kp = 0.04, Ki = 0.03, Kd = 0.03; error = -143266539.416228
Kp = 0.05, Ki = 0.03, Kd = 0.03; error = -135530509.174716
Kp = 0.06, Ki = 0.03, Kd = 0.03; error = -100519559.507930
Kp = 0.07, Ki = 0.03, Kd = 0.03; error = -235435240.013805
Kp = 0.08, Ki = 0.03, Kd = 0.03; error = -250299810.546749
Kp = 0.09, Ki = 0.03, Kd = 0.03; error = 293505919.088243
Kp = 0.00, Ki = 0.03, Kd = 0.04; error = -83556007.784733
Kp = 0.01, Ki = 0.03, Kd = 0.04; error = -55043506.032942
Kp = 0.02, Ki = 0.03, Kd = 0.04; error = -66624495.826850
Kp = 0.03, Ki = 0.03, Kd = 0.04; error = -168449701.271409
Kp = 0.04, Ki = 0.03, Kd = 0.04; error = -143266539.416228
Kp = 0.05, Ki = 0.03, Kd = 0.04; error = -135530509.174716
Kp = 0.06, Ki = 0.03, Kd = 0.04; error = -161823138.943793
Kp = 0.07, Ki = 0.03, Kd = 0.04; error = -235435240.013805
Kp = 0.08, Ki = 0.03, Kd = 0.04; error = -250299810.546749
Kp = 0.09, Ki = 0.03, Kd = 0.04; error = 293505919.088243
Kp = 0.00, Ki = 0.03, Kd = 0.05; error = -83556007.784733
Kp = 0.01, Ki = 0.03, Kd = 0.05; error = -68478492.382474
Kp = 0.02, Ki = 0.03, Kd = 0.05; error = -67633262.317253
Kp = 0.03, Ki = 0.03, Kd = 0.05; error = -168449701.271409
Kp = 0.04, Ki = 0.03, Kd = 0.05; error = -143266539.416228
Kp = 0.05, Ki = 0.03, Kd = 0.05; error = -135530509.174716
Kp = 0.06, Ki = 0.03, Kd = 0.05; error = -121093302.004408
Kp = 0.07, Ki = 0.03, Kd = 0.05; error = -235435240.013805
Kp = 0.08, Ki = 0.03, Kd = 0.05; error = -250299810.546749
Kp = 0.09, Ki = 0.03, Kd = 0.05; error = 293505919.088243
Kp = 0.00, Ki = 0.03, Kd = 0.06; error = -83556007.784733
Kp = 0.01, Ki = 0.03, Kd = 0.06; error = -93384378.549534
Kp = 0.02, Ki = 0.03, Kd = 0.06; error = -66990780.885725
Kp = 0.03, Ki = 0.03, Kd = 0.06; error = -168449701.271409
Kp = 0.04, Ki = 0.03, Kd = 0.06; error = -143266539.416228
Kp = 0.05, Ki = 0.03, Kd = 0.06; error = -135530509.174716
Kp = 0.06, Ki = 0.03, Kd = 0.06; error = -86347195.232234
Kp = 0.07, Ki = 0.03, Kd = 0.06; error = -235435240.013805
Kp = 0.08, Ki = 0.03, Kd = 0.06; error = -250299810.546749
Kp = 0.09, Ki = 0.03, Kd = 0.06; error = 293505919.088243
Kp = 0.00, Ki = 0.03, Kd = 0.07; error = -83556007.784733
Kp = 0.01, Ki = 0.03, Kd = 0.07; error = -72551811.559356
Kp = 0.02, Ki = 0.03, Kd = 0.07; error = -78453132.807222
Kp = 0.03, Ki = 0.03, Kd = 0.07; error = -168449701.271409
Kp = 0.04, Ki = 0.03, Kd = 0.07; error = -143266539.416228
Kp = 0.05, Ki = 0.03, Kd = 0.07; error = -135530509.174716
Kp = 0.06, Ki = 0.03, Kd = 0.07; error = -123905169.403006
Kp = 0.07, Ki = 0.03, Kd = 0.07; error = -235435240.013805
Kp = 0.08, Ki = 0.03, Kd = 0.07; error = -250299810.546749
Kp = 0.09, Ki = 0.03, Kd = 0.07; error = 293505919.088243
Kp = 0.00, Ki = 0.03, Kd = 0.08; error = -83556007.784733
Kp = 0.01, Ki = 0.03, Kd = 0.08; error = -102751452.905264
Kp = 0.02, Ki = 0.03, Kd = 0.08; error = -69442102.785929
Kp = 0.03, Ki = 0.03, Kd = 0.08; error = -168449701.271409
Kp = 0.04, Ki = 0.03, Kd = 0.08; error = -143266539.416228
Kp = 0.05, Ki = 0.03, Kd = 0.08; error = -135530509.174716
Kp = 0.06, Ki = 0.03, Kd = 0.08; error = -94028640.878673
Kp = 0.07, Ki = 0.03, Kd = 0.08; error = -235435240.013805
Kp = 0.08, Ki = 0.03, Kd = 0.08; error = -250299810.546749
Kp = 0.09, Ki = 0.03, Kd = 0.08; error = 293505919.088243
Kp = 0.00, Ki = 0.03, Kd = 0.09; error = -83556007.784733
Kp = 0.01, Ki = 0.03, Kd = 0.09; error = -81336903.955801
Kp = 0.02, Ki = 0.03, Kd = 0.09; error = -69442102.785929
Kp = 0.03, Ki = 0.03, Kd = 0.09; error = -168449701.271409
Kp = 0.04, Ki = 0.03, Kd = 0.09; error = -143266539.416228
Kp = 0.05, Ki = 0.03, Kd = 0.09; error = -135530509.174716
Kp = 0.06, Ki = 0.03, Kd = 0.09; error = -87110846.470845
Kp = 0.07, Ki = 0.03, Kd = 0.09; error = -235435240.013805
Kp = 0.08, Ki = 0.03, Kd = 0.09; error = -250299810.546749
Kp = 0.09, Ki = 0.03, Kd = 0.09; error = 293505919.088243
Kp = 0.00, Ki = 0.04, Kd = 0.00; error = -404278169.716730
Kp = 0.01, Ki = 0.04, Kd = 0.00; error = -221460650.875732
Kp = 0.02, Ki = 0.04, Kd = 0.00; error = -258674135.916613
Kp = 0.03, Ki = 0.04, Kd = 0.00; error = -175160410.490271
Kp = 0.04, Ki = 0.04, Kd = 0.00; error = -241965853.639333
Kp = 0.05, Ki = 0.04, Kd = 0.00; error = -313768235.946896
Kp = 0.06, Ki = 0.04, Kd = 0.00; error = -295155950.337337
Kp = 0.07, Ki = 0.04, Kd = 0.00; error = -332482221.549312
Kp = 0.08, Ki = 0.04, Kd = 0.00; error = -410338218.709447
Kp = 0.09, Ki = 0.04, Kd = 0.00; error = 220003052.659108
Kp = 0.00, Ki = 0.04, Kd = 0.01; error = -276293180.916347
Kp = 0.01, Ki = 0.04, Kd = 0.01; error = -69604193.887448
Kp = 0.02, Ki = 0.04, Kd = 0.01; error = -71105767.896438
Kp = 0.03, Ki = 0.04, Kd = 0.01; error = -138520953.929023
Kp = 0.04, Ki = 0.04, Kd = 0.01; error = -84412021.629506
Kp = 0.05, Ki = 0.04, Kd = 0.01; error = -196485585.585797
Kp = 0.06, Ki = 0.04, Kd = 0.01; error = -133960047.367322
Kp = 0.07, Ki = 0.04, Kd = 0.01; error = -251926066.512552
Kp = 0.08, Ki = 0.04, Kd = 0.01; error = -343876651.851614
Kp = 0.09, Ki = 0.04, Kd = 0.01; error = 220003052.659108
Kp = 0.00, Ki = 0.04, Kd = 0.02; error = -216011307.939099
Kp = 0.01, Ki = 0.04, Kd = 0.02; error = -67344954.005396
Kp = 0.02, Ki = 0.04, Kd = 0.02; error = -372618900.659094
Kp = 0.03, Ki = 0.04, Kd = 0.02; error = -170217817.128666
Kp = 0.04, Ki = 0.04, Kd = 0.02; error = -84412021.629506
Kp = 0.05, Ki = 0.04, Kd = 0.02; error = -196485585.585797
Kp = 0.06, Ki = 0.04, Kd = 0.02; error = -136023588.172077
Kp = 0.07, Ki = 0.04, Kd = 0.02; error = -251926066.512552
Kp = 0.08, Ki = 0.04, Kd = 0.02; error = -343876651.851614
Kp = 0.09, Ki = 0.04, Kd = 0.02; error = 220003052.659108
Kp = 0.00, Ki = 0.04, Kd = 0.03; error = -216011307.939099
Kp = 0.01, Ki = 0.04, Kd = 0.03; error = -67344954.005396
Kp = 0.02, Ki = 0.04, Kd = 0.03; error = -372618900.659094
Kp = 0.03, Ki = 0.04, Kd = 0.03; error = -152534906.536656
Kp = 0.04, Ki = 0.04, Kd = 0.03; error = -84412021.629506
Kp = 0.05, Ki = 0.04, Kd = 0.03; error = -196485585.585797
Kp = 0.06, Ki = 0.04, Kd = 0.03; error = -136023588.172077
Kp = 0.07, Ki = 0.04, Kd = 0.03; error = -251926066.512552
Kp = 0.08, Ki = 0.04, Kd = 0.03; error = -343876651.851614
Kp = 0.09, Ki = 0.04, Kd = 0.03; error = 220003052.659108
Kp = 0.00, Ki = 0.04, Kd = 0.04; error = -216011307.939099
Kp = 0.01, Ki = 0.04, Kd = 0.04; error = -67344954.005396
Kp = 0.02, Ki = 0.04, Kd = 0.04; error = -372618900.659094
Kp = 0.03, Ki = 0.04, Kd = 0.04; error = -150060713.617343
Kp = 0.04, Ki = 0.04, Kd = 0.04; error = -84412021.629506
Kp = 0.05, Ki = 0.04, Kd = 0.04; error = -196485585.585797
Kp = 0.06, Ki = 0.04, Kd = 0.04; error = -136023588.172077
Kp = 0.07, Ki = 0.04, Kd = 0.04; error = -251926066.512552
Kp = 0.08, Ki = 0.04, Kd = 0.04; error = -343876651.851614
Kp = 0.09, Ki = 0.04, Kd = 0.04; error = 220003052.659108
Kp = 0.00, Ki = 0.04, Kd = 0.05; error = -216011307.939099
Kp = 0.01, Ki = 0.04, Kd = 0.05; error = -67344954.005396
Kp = 0.02, Ki = 0.04, Kd = 0.05; error = -372618900.659094
Kp = 0.03, Ki = 0.04, Kd = 0.05; error = -19232761.383443
Kp = 0.04, Ki = 0.04, Kd = 0.05; error = -84412021.629506
Kp = 0.05, Ki = 0.04, Kd = 0.05; error = -196485585.585797
Kp = 0.06, Ki = 0.04, Kd = 0.05; error = -136023588.172077
Kp = 0.07, Ki = 0.04, Kd = 0.05; error = -251926066.512552
Kp = 0.08, Ki = 0.04, Kd = 0.05; error = -343876651.851614
Kp = 0.09, Ki = 0.04, Kd = 0.05; error = 220003052.659108
Kp = 0.00, Ki = 0.04, Kd = 0.06; error = -216011307.939099
Kp = 0.01, Ki = 0.04, Kd = 0.06; error = -67344954.005396
Kp = 0.02, Ki = 0.04, Kd = 0.06; error = -372618900.659094
Kp = 0.03, Ki = 0.04, Kd = 0.06; error = -36541449.362402
Kp = 0.04, Ki = 0.04, Kd = 0.06; error = -84412021.629506
Kp = 0.05, Ki = 0.04, Kd = 0.06; error = -196485585.585797
Kp = 0.06, Ki = 0.04, Kd = 0.06; error = -136023588.172077
Kp = 0.07, Ki = 0.04, Kd = 0.06; error = -251926066.512552
Kp = 0.08, Ki = 0.04, Kd = 0.06; error = -343876651.851614
Kp = 0.09, Ki = 0.04, Kd = 0.06; error = 220003052.659108
Kp = 0.00, Ki = 0.04, Kd = 0.07; error = -216011307.939099
Kp = 0.01, Ki = 0.04, Kd = 0.07; error = -67344954.005396
Kp = 0.02, Ki = 0.04, Kd = 0.07; error = -372618900.659094
Kp = 0.03, Ki = 0.04, Kd = 0.07; error = -80974642.692099
Kp = 0.04, Ki = 0.04, Kd = 0.07; error = -84412021.629506
Kp = 0.05, Ki = 0.04, Kd = 0.07; error = -196485585.585797
Kp = 0.06, Ki = 0.04, Kd = 0.07; error = -136023588.172077
Kp = 0.07, Ki = 0.04, Kd = 0.07; error = -251926066.512552
Kp = 0.08, Ki = 0.04, Kd = 0.07; error = -343876651.851614
Kp = 0.09, Ki = 0.04, Kd = 0.07; error = 220003052.659108
Kp = 0.00, Ki = 0.04, Kd = 0.08; error = -216011307.939099
Kp = 0.01, Ki = 0.04, Kd = 0.08; error = -67344954.005396
Kp = 0.02, Ki = 0.04, Kd = 0.08; error = -372618900.659094
Kp = 0.03, Ki = 0.04, Kd = 0.08; error = -130193231.708992
Kp = 0.04, Ki = 0.04, Kd = 0.08; error = -84412021.629506
Kp = 0.05, Ki = 0.04, Kd = 0.08; error = -196485585.585797
Kp = 0.06, Ki = 0.04, Kd = 0.08; error = -136023588.172077
Kp = 0.07, Ki = 0.04, Kd = 0.08; error = -251926066.512552
Kp = 0.08, Ki = 0.04, Kd = 0.08; error = -343876651.851614
Kp = 0.09, Ki = 0.04, Kd = 0.08; error = 220003052.659108
Kp = 0.00, Ki = 0.04, Kd = 0.09; error = -216011307.939099
Kp = 0.01, Ki = 0.04, Kd = 0.09; error = -67344954.005396
Kp = 0.02, Ki = 0.04, Kd = 0.09; error = -372618900.659094
Kp = 0.03, Ki = 0.04, Kd = 0.09; error = -130193231.708992
Kp = 0.04, Ki = 0.04, Kd = 0.09; error = -84412021.629506
Kp = 0.05, Ki = 0.04, Kd = 0.09; error = -196485585.585797
Kp = 0.06, Ki = 0.04, Kd = 0.09; error = -136023588.172077
Kp = 0.07, Ki = 0.04, Kd = 0.09; error = -251926066.512552
Kp = 0.08, Ki = 0.04, Kd = 0.09; error = -343876651.851614
Kp = 0.09, Ki = 0.04, Kd = 0.09; error = 220003052.659108
Kp = 0.00, Ki = 0.05, Kd = 0.00; error = -395247893.687692
Kp = 0.01, Ki = 0.05, Kd = 0.00; error = -308722400.321400
Kp = 0.02, Ki = 0.05, Kd = 0.00; error = -337994896.746663
Kp = 0.03, Ki = 0.05, Kd = 0.00; error = -248400143.944440
Kp = 0.04, Ki = 0.05, Kd = 0.00; error = -301063902.358401
Kp = 0.05, Ki = 0.05, Kd = 0.00; error = -353540925.767344
Kp = 0.06, Ki = 0.05, Kd = 0.00; error = -312295409.020069
Kp = 0.07, Ki = 0.05, Kd = 0.00; error = -346852097.905036
Kp = 0.08, Ki = 0.05, Kd = 0.00; error = 245424458.404204
Kp = 0.09, Ki = 0.05, Kd = 0.00; error = 167333090.643810
Kp = 0.00, Ki = 0.05, Kd = 0.01; error = -253287223.153730
Kp = 0.01, Ki = 0.05, Kd = 0.01; error = -116161769.107960
Kp = 0.02, Ki = 0.05, Kd = 0.01; error = -162243718.341197
Kp = 0.03, Ki = 0.05, Kd = 0.01; error = -112337029.169619
Kp = 0.04, Ki = 0.05, Kd = 0.01; error = -147446903.021799
Kp = 0.05, Ki = 0.05, Kd = 0.01; error = -241415954.899350
Kp = 0.06, Ki = 0.05, Kd = 0.01; error = -179201082.975779
Kp = 0.07, Ki = 0.05, Kd = 0.01; error = -264639429.875032
Kp = 0.08, Ki = 0.05, Kd = 0.01; error = 245424458.404204
Kp = 0.09, Ki = 0.05, Kd = 0.01; error = 167333090.643810
Kp = 0.00, Ki = 0.05, Kd = 0.02; error = -178855553.499032
Kp = 0.01, Ki = 0.05, Kd = 0.02; error = -66875312.220325
Kp = 0.02, Ki = 0.05, Kd = 0.02; error = -138763164.081782
Kp = 0.03, Ki = 0.05, Kd = 0.02; error = -134902416.979680
Kp = 0.04, Ki = 0.05, Kd = 0.02; error = -147446903.021799
Kp = 0.05, Ki = 0.05, Kd = 0.02; error = -241415954.899350
Kp = 0.06, Ki = 0.05, Kd = 0.02; error = -173662187.757624
Kp = 0.07, Ki = 0.05, Kd = 0.02; error = -269084263.648223
Kp = 0.08, Ki = 0.05, Kd = 0.02; error = 245424458.404204
Kp = 0.09, Ki = 0.05, Kd = 0.02; error = 167333090.643810
Kp = 0.00, Ki = 0.05, Kd = 0.03; error = -178855553.499032
Kp = 0.01, Ki = 0.05, Kd = 0.03; error = -66875312.220325
Kp = 0.02, Ki = 0.05, Kd = 0.03; error = -138763164.081782
Kp = 0.03, Ki = 0.05, Kd = 0.03; error = -134902416.979680
Kp = 0.04, Ki = 0.05, Kd = 0.03; error = -147446903.021799
Kp = 0.05, Ki = 0.05, Kd = 0.03; error = -241415954.899350
Kp = 0.06, Ki = 0.05, Kd = 0.03; error = -173662187.757624
Kp = 0.07, Ki = 0.05, Kd = 0.03; error = -269084263.648223
Kp = 0.08, Ki = 0.05, Kd = 0.03; error = 245424458.404204
Kp = 0.09, Ki = 0.05, Kd = 0.03; error = 167333090.643810
Kp = 0.00, Ki = 0.05, Kd = 0.04; error = -178855553.499032
Kp = 0.01, Ki = 0.05, Kd = 0.04; error = -66875312.220325
Kp = 0.02, Ki = 0.05, Kd = 0.04; error = -138763164.081782
Kp = 0.03, Ki = 0.05, Kd = 0.04; error = -134902416.979680
Kp = 0.04, Ki = 0.05, Kd = 0.04; error = -147446903.021799
Kp = 0.05, Ki = 0.05, Kd = 0.04; error = -241415954.899350
Kp = 0.06, Ki = 0.05, Kd = 0.04; error = -173662187.757624
Kp = 0.07, Ki = 0.05, Kd = 0.04; error = -269084263.648223
Kp = 0.08, Ki = 0.05, Kd = 0.04; error = 245424458.404204
Kp = 0.09, Ki = 0.05, Kd = 0.04; error = 167333090.643810
Kp = 0.00, Ki = 0.05, Kd = 0.05; error = -178855553.499032
Kp = 0.01, Ki = 0.05, Kd = 0.05; error = -66875312.220325
Kp = 0.02, Ki = 0.05, Kd = 0.05; error = -138763164.081782
Kp = 0.03, Ki = 0.05, Kd = 0.05; error = -134902416.979680
Kp = 0.04, Ki = 0.05, Kd = 0.05; error = -147446903.021799
Kp = 0.05, Ki = 0.05, Kd = 0.05; error = -241415954.899350
Kp = 0.06, Ki = 0.05, Kd = 0.05; error = -173662187.757624
Kp = 0.07, Ki = 0.05, Kd = 0.05; error = -269084263.648223
Kp = 0.08, Ki = 0.05, Kd = 0.05; error = 245424458.404204
Kp = 0.09, Ki = 0.05, Kd = 0.05; error = 167333090.643810
Kp = 0.00, Ki = 0.05, Kd = 0.06; error = -178855553.499032
Kp = 0.01, Ki = 0.05, Kd = 0.06; error = -66875312.220325
Kp = 0.02, Ki = 0.05, Kd = 0.06; error = -138763164.081782
Kp = 0.03, Ki = 0.05, Kd = 0.06; error = -134902416.979680
Kp = 0.04, Ki = 0.05, Kd = 0.06; error = -147446903.021799
Kp = 0.05, Ki = 0.05, Kd = 0.06; error = -241415954.899350
Kp = 0.06, Ki = 0.05, Kd = 0.06; error = -173662187.757624
Kp = 0.07, Ki = 0.05, Kd = 0.06; error = -269084263.648223
Kp = 0.08, Ki = 0.05, Kd = 0.06; error = 245424458.404204
Kp = 0.09, Ki = 0.05, Kd = 0.06; error = 167333090.643810
Kp = 0.00, Ki = 0.05, Kd = 0.07; error = -178855553.499032
Kp = 0.01, Ki = 0.05, Kd = 0.07; error = -66875312.220325
Kp = 0.02, Ki = 0.05, Kd = 0.07; error = -138763164.081782
Kp = 0.03, Ki = 0.05, Kd = 0.07; error = -134902416.979680
Kp = 0.04, Ki = 0.05, Kd = 0.07; error = -147446903.021799
Kp = 0.05, Ki = 0.05, Kd = 0.07; error = -241415954.899350
Kp = 0.06, Ki = 0.05, Kd = 0.07; error = -173662187.757624
Kp = 0.07, Ki = 0.05, Kd = 0.07; error = -269084263.648223
Kp = 0.08, Ki = 0.05, Kd = 0.07; error = 245424458.404204
Kp = 0.09, Ki = 0.05, Kd = 0.07; error = 167333090.643810
Kp = 0.00, Ki = 0.05, Kd = 0.08; error = -178855553.499032
Kp = 0.01, Ki = 0.05, Kd = 0.08; error = -66875312.220325
Kp = 0.02, Ki = 0.05, Kd = 0.08; error = -138763164.081782
Kp = 0.03, Ki = 0.05, Kd = 0.08; error = -134902416.979680
Kp = 0.04, Ki = 0.05, Kd = 0.08; error = -147446903.021799
Kp = 0.05, Ki = 0.05, Kd = 0.08; error = -241415954.899350
Kp = 0.06, Ki = 0.05, Kd = 0.08; error = -173662187.757624
Kp = 0.07, Ki = 0.05, Kd = 0.08; error = -269084263.648223
Kp = 0.08, Ki = 0.05, Kd = 0.08; error = 245424458.404204
Kp = 0.09, Ki = 0.05, Kd = 0.08; error = 167333090.643810
Kp = 0.00, Ki = 0.05, Kd = 0.09; error = -178855553.499032
Kp = 0.01, Ki = 0.05, Kd = 0.09; error = -66875312.220325
Kp = 0.02, Ki = 0.05, Kd = 0.09; error = -138763164.081782
Kp = 0.03, Ki = 0.05, Kd = 0.09; error = -134902416.979680
Kp = 0.04, Ki = 0.05, Kd = 0.09; error = -147446903.021799
Kp = 0.05, Ki = 0.05, Kd = 0.09; error = -241415954.899350
Kp = 0.06, Ki = 0.05, Kd = 0.09; error = -173662187.757624
Kp = 0.07, Ki = 0.05, Kd = 0.09; error = -269084263.648223
Kp = 0.08, Ki = 0.05, Kd = 0.09; error = 245424458.404204
Kp = 0.09, Ki = 0.05, Kd = 0.09; error = 167333090.643810
Kp = 0.00, Ki = 0.06, Kd = 0.00; error = -420849463.103125
Kp = 0.01, Ki = 0.06, Kd = 0.00; error = -371561133.405482
Kp = 0.02, Ki = 0.06, Kd = 0.00; error = -384515600.019885
Kp = 0.03, Ki = 0.06, Kd = 0.00; error = -302880405.371903
Kp = 0.04, Ki = 0.06, Kd = 0.00; error = -344688906.387610
Kp = 0.05, Ki = 0.06, Kd = 0.00; error = -383879980.668822
Kp = 0.06, Ki = 0.06, Kd = 0.00; error = -321325470.432880
Kp = 0.07, Ki = 0.06, Kd = 0.00; error = -417860904.848194
Kp = 0.08, Ki = 0.06, Kd = 0.00; error = 194710732.370957
Kp = 0.09, Ki = 0.06, Kd = 0.00; error = 128682307.833334
Kp = 0.00, Ki = 0.06, Kd = 0.01; error = -347230940.769401
Kp = 0.01, Ki = 0.06, Kd = 0.01; error = -213850520.404063
Kp = 0.02, Ki = 0.06, Kd = 0.01; error = -244763027.820038
Kp = 0.03, Ki = 0.06, Kd = 0.01; error = -113523558.037435
Kp = 0.04, Ki = 0.06, Kd = 0.01; error = -197475090.179181
Kp = 0.05, Ki = 0.06, Kd = 0.01; error = -279803606.342297
Kp = 0.06, Ki = 0.06, Kd = 0.01; error = -207370901.942782
Kp = 0.07, Ki = 0.06, Kd = 0.01; error = -356664644.210886
Kp = 0.08, Ki = 0.06, Kd = 0.01; error = 194710732.370957
Kp = 0.09, Ki = 0.06, Kd = 0.01; error = 128682307.833334
Kp = 0.00, Ki = 0.06, Kd = 0.02; error = -273182370.313193
Kp = 0.01, Ki = 0.06, Kd = 0.02; error = -153031034.149672
Kp = 0.02, Ki = 0.06, Kd = 0.02; error = -184442078.071902
Kp = 0.03, Ki = 0.06, Kd = 0.02; error = -113523558.037435
Kp = 0.04, Ki = 0.06, Kd = 0.02; error = -197475090.179181
Kp = 0.05, Ki = 0.06, Kd = 0.02; error = -279803606.342297
Kp = 0.06, Ki = 0.06, Kd = 0.02; error = -207680846.742893
Kp = 0.07, Ki = 0.06, Kd = 0.02; error = -356664644.210886
Kp = 0.08, Ki = 0.06, Kd = 0.02; error = 194710732.370957
Kp = 0.09, Ki = 0.06, Kd = 0.02; error = 128682307.833334
Kp = 0.00, Ki = 0.06, Kd = 0.03; error = -273182370.313193
Kp = 0.01, Ki = 0.06, Kd = 0.03; error = -153031034.149672
Kp = 0.02, Ki = 0.06, Kd = 0.03; error = -171930726.271209
Kp = 0.03, Ki = 0.06, Kd = 0.03; error = -113523558.037435
Kp = 0.04, Ki = 0.06, Kd = 0.03; error = -197475090.179181
Kp = 0.05, Ki = 0.06, Kd = 0.03; error = -279803606.342297
Kp = 0.06, Ki = 0.06, Kd = 0.03; error = -208043980.749646
Kp = 0.07, Ki = 0.06, Kd = 0.03; error = -356664644.210886
Kp = 0.08, Ki = 0.06, Kd = 0.03; error = 194710732.370957
Kp = 0.09, Ki = 0.06, Kd = 0.03; error = 128682307.833334
Kp = 0.00, Ki = 0.06, Kd = 0.04; error = -273182370.313193
Kp = 0.01, Ki = 0.06, Kd = 0.04; error = -153031034.149672
Kp = 0.02, Ki = 0.06, Kd = 0.04; error = -159229747.697573
Kp = 0.03, Ki = 0.06, Kd = 0.04; error = -113523558.037435
Kp = 0.04, Ki = 0.06, Kd = 0.04; error = -197475090.179181
Kp = 0.05, Ki = 0.06, Kd = 0.04; error = -279803606.342297
Kp = 0.06, Ki = 0.06, Kd = 0.04; error = -208043980.749646
Kp = 0.07, Ki = 0.06, Kd = 0.04; error = -356664644.210886
Kp = 0.08, Ki = 0.06, Kd = 0.04; error = 194710732.370957
Kp = 0.09, Ki = 0.06, Kd = 0.04; error = 128682307.833334
Kp = 0.00, Ki = 0.06, Kd = 0.05; error = -273182370.313193
Kp = 0.01, Ki = 0.06, Kd = 0.05; error = -153031034.149672
Kp = 0.02, Ki = 0.06, Kd = 0.05; error = -146350195.858530
Kp = 0.03, Ki = 0.06, Kd = 0.05; error = -113523558.037435
Kp = 0.04, Ki = 0.06, Kd = 0.05; error = -197475090.179181
Kp = 0.05, Ki = 0.06, Kd = 0.05; error = -279803606.342297
Kp = 0.06, Ki = 0.06, Kd = 0.05; error = -208043980.749646
Kp = 0.07, Ki = 0.06, Kd = 0.05; error = -356664644.210886
Kp = 0.08, Ki = 0.06, Kd = 0.05; error = 194710732.370957
Kp = 0.09, Ki = 0.06, Kd = 0.05; error = 128682307.833334
Kp = 0.00, Ki = 0.06, Kd = 0.06; error = -273182370.313193
Kp = 0.01, Ki = 0.06, Kd = 0.06; error = -153031034.149672
Kp = 0.02, Ki = 0.06, Kd = 0.06; error = -133303184.069311
Kp = 0.03, Ki = 0.06, Kd = 0.06; error = -113523558.037435
Kp = 0.04, Ki = 0.06, Kd = 0.06; error = -197475090.179181
Kp = 0.05, Ki = 0.06, Kd = 0.06; error = -279803606.342297
Kp = 0.06, Ki = 0.06, Kd = 0.06; error = -208043980.749646
Kp = 0.07, Ki = 0.06, Kd = 0.06; error = -356664644.210886
Kp = 0.08, Ki = 0.06, Kd = 0.06; error = 194710732.370957
Kp = 0.09, Ki = 0.06, Kd = 0.06; error = 128682307.833334
Kp = 0.00, Ki = 0.06, Kd = 0.07; error = -273182370.313193
Kp = 0.01, Ki = 0.06, Kd = 0.07; error = -153031034.149672
Kp = 0.02, Ki = 0.06, Kd = 0.07; error = -120099876.296847
Kp = 0.03, Ki = 0.06, Kd = 0.07; error = -113523558.037435
Kp = 0.04, Ki = 0.06, Kd = 0.07; error = -197475090.179181
Kp = 0.05, Ki = 0.06, Kd = 0.07; error = -279803606.342297
Kp = 0.06, Ki = 0.06, Kd = 0.07; error = -208043980.749646
Kp = 0.07, Ki = 0.06, Kd = 0.07; error = -356664644.210886
Kp = 0.08, Ki = 0.06, Kd = 0.07; error = 194710732.370957
Kp = 0.09, Ki = 0.06, Kd = 0.07; error = 128682307.833334
Kp = 0.00, Ki = 0.06, Kd = 0.08; error = -273182370.313193
Kp = 0.01, Ki = 0.06, Kd = 0.08; error = -153031034.149672
Kp = 0.02, Ki = 0.06, Kd = 0.08; error = -106751477.172903
Kp = 0.03, Ki = 0.06, Kd = 0.08; error = -113523558.037435
Kp = 0.04, Ki = 0.06, Kd = 0.08; error = -197475090.179181
Kp = 0.05, Ki = 0.06, Kd = 0.08; error = -279803606.342297
Kp = 0.06, Ki = 0.06, Kd = 0.08; error = -208043980.749646
Kp = 0.07, Ki = 0.06, Kd = 0.08; error = -356664644.210886
Kp = 0.08, Ki = 0.06, Kd = 0.08; error = 194710732.370957
Kp = 0.09, Ki = 0.06, Kd = 0.08; error = 128682307.833334
Kp = 0.00, Ki = 0.06, Kd = 0.09; error = -273182370.313193
Kp = 0.01, Ki = 0.06, Kd = 0.09; error = -153031034.149672
Kp = 0.02, Ki = 0.06, Kd = 0.09; error = -93269221.187719
Kp = 0.03, Ki = 0.06, Kd = 0.09; error = -113523558.037435
Kp = 0.04, Ki = 0.06, Kd = 0.09; error = -197475090.179181
Kp = 0.05, Ki = 0.06, Kd = 0.09; error = -279803606.342297
Kp = 0.06, Ki = 0.06, Kd = 0.09; error = -208043980.749646
Kp = 0.07, Ki = 0.06, Kd = 0.09; error = -356664644.210886
Kp = 0.08, Ki = 0.06, Kd = 0.09; error = 194710732.370957
Kp = 0.09, Ki = 0.06, Kd = 0.09; error = 128682307.833334
Kp = 0.00, Ki = 0.07, Kd = 0.00; error = -391206964.914398
Kp = 0.01, Ki = 0.07, Kd = 0.00; error = -407149087.760858
Kp = 0.02, Ki = 0.07, Kd = 0.00; error = -363585360.629436
Kp = 0.03, Ki = 0.07, Kd = 0.00; error = -346723153.815866
Kp = 0.04, Ki = 0.07, Kd = 0.00; error = -375256804.445578
Kp = 0.05, Ki = 0.07, Kd = 0.00; error = -399357794.929170
Kp = 0.06, Ki = 0.07, Kd = 0.00; error = -401491592.650832
Kp = 0.07, Ki = 0.07, Kd = 0.00; error = 222108595.931974
Kp = 0.08, Ki = 0.07, Kd = 0.00; error = 166402292.732810
Kp = 0.09, Ki = 0.07, Kd = 0.00; error = 92299494.896436
Kp = 0.00, Ki = 0.07, Kd = 0.01; error = -403941990.791519
Kp = 0.01, Ki = 0.07, Kd = 0.01; error = -290004700.554709
Kp = 0.02, Ki = 0.07, Kd = 0.01; error = -211056348.951055
Kp = 0.03, Ki = 0.07, Kd = 0.01; error = -174461965.914269
Kp = 0.04, Ki = 0.07, Kd = 0.01; error = -236593008.382792
Kp = 0.05, Ki = 0.07, Kd = 0.01; error = -296141615.370438
Kp = 0.06, Ki = 0.07, Kd = 0.01; error = -301091888.257684
Kp = 0.07, Ki = 0.07, Kd = 0.01; error = 281013664.745898
Kp = 0.08, Ki = 0.07, Kd = 0.01; error = 166402292.732810
Kp = 0.09, Ki = 0.07, Kd = 0.01; error = 92299494.896436
Kp = 0.00, Ki = 0.07, Kd = 0.02; error = -344207670.632410
Kp = 0.01, Ki = 0.07, Kd = 0.02; error = -221822114.706203
Kp = 0.02, Ki = 0.07, Kd = 0.02; error = -144980022.393310
Kp = 0.03, Ki = 0.07, Kd = 0.02; error = -167989675.736869
Kp = 0.04, Ki = 0.07, Kd = 0.02; error = -236593008.382792
Kp = 0.05, Ki = 0.07, Kd = 0.02; error = -296141615.370438
Kp = 0.06, Ki = 0.07, Kd = 0.02; error = -267687440.113475
Kp = 0.07, Ki = 0.07, Kd = 0.02; error = -413385744.998605
Kp = 0.08, Ki = 0.07, Kd = 0.02; error = 166402292.732810
Kp = 0.09, Ki = 0.07, Kd = 0.02; error = 92299494.896436
Kp = 0.00, Ki = 0.07, Kd = 0.03; error = -344207670.632410
Kp = 0.01, Ki = 0.07, Kd = 0.03; error = -221822114.706203
Kp = 0.02, Ki = 0.07, Kd = 0.03; error = -164443647.996306
Kp = 0.03, Ki = 0.07, Kd = 0.03; error = -167989675.736869
Kp = 0.04, Ki = 0.07, Kd = 0.03; error = -236593008.382792
Kp = 0.05, Ki = 0.07, Kd = 0.03; error = -296141615.370438
Kp = 0.06, Ki = 0.07, Kd = 0.03; error = -231554719.113290
Kp = 0.07, Ki = 0.07, Kd = 0.03; error = -422152448.011051
Kp = 0.08, Ki = 0.07, Kd = 0.03; error = 166402292.732810
Kp = 0.09, Ki = 0.07, Kd = 0.03; error = 92299494.896436
Kp = 0.00, Ki = 0.07, Kd = 0.04; error = -344207670.632410
Kp = 0.01, Ki = 0.07, Kd = 0.04; error = -221822114.706203
Kp = 0.02, Ki = 0.07, Kd = 0.04; error = -164443647.996306
Kp = 0.03, Ki = 0.07, Kd = 0.04; error = -167989675.736869
Kp = 0.04, Ki = 0.07, Kd = 0.04; error = -236593008.382792
Kp = 0.05, Ki = 0.07, Kd = 0.04; error = -296141615.370438
Kp = 0.06, Ki = 0.07, Kd = 0.04; error = -193524877.458392
Kp = 0.07, Ki = 0.07, Kd = 0.04; error = -422941725.500909
Kp = 0.08, Ki = 0.07, Kd = 0.04; error = 166402292.732810
Kp = 0.09, Ki = 0.07, Kd = 0.04; error = 92299494.896436
Kp = 0.00, Ki = 0.07, Kd = 0.05; error = -344207670.632410
Kp = 0.01, Ki = 0.07, Kd = 0.05; error = -221822114.706203
Kp = 0.02, Ki = 0.07, Kd = 0.05; error = -164443647.996306
Kp = 0.03, Ki = 0.07, Kd = 0.05; error = -167989675.736869
Kp = 0.04, Ki = 0.07, Kd = 0.05; error = -236593008.382792
Kp = 0.05, Ki = 0.07, Kd = 0.05; error = -296141615.370438
Kp = 0.06, Ki = 0.07, Kd = 0.05; error = 35057059.993445
Kp = 0.07, Ki = 0.07, Kd = 0.05; error = -423344996.211070
Kp = 0.08, Ki = 0.07, Kd = 0.05; error = 166402292.732810
Kp = 0.09, Ki = 0.07, Kd = 0.05; error = 92299494.896436
Kp = 0.00, Ki = 0.07, Kd = 0.06; error = -344207670.632410
Kp = 0.01, Ki = 0.07, Kd = 0.06; error = -221822114.706203
Kp = 0.02, Ki = 0.07, Kd = 0.06; error = -164443647.996306
Kp = 0.03, Ki = 0.07, Kd = 0.06; error = -167989675.736869
Kp = 0.04, Ki = 0.07, Kd = 0.06; error = -236593008.382792
Kp = 0.05, Ki = 0.07, Kd = 0.06; error = -296141615.370438
Kp = 0.06, Ki = 0.07, Kd = 0.06; error = -194594651.313219
Kp = 0.07, Ki = 0.07, Kd = 0.06; error = -423416049.396330
Kp = 0.08, Ki = 0.07, Kd = 0.06; error = 166402292.732810
Kp = 0.09, Ki = 0.07, Kd = 0.06; error = 92299494.896436
Kp = 0.00, Ki = 0.07, Kd = 0.07; error = -344207670.632410
Kp = 0.01, Ki = 0.07, Kd = 0.07; error = -221822114.706203
Kp = 0.02, Ki = 0.07, Kd = 0.07; error = -164443647.996306
Kp = 0.03, Ki = 0.07, Kd = 0.07; error = -167989675.736869
Kp = 0.04, Ki = 0.07, Kd = 0.07; error = -236593008.382792
Kp = 0.05, Ki = 0.07, Kd = 0.07; error = -296141615.370438
Kp = 0.06, Ki = 0.07, Kd = 0.07; error = -194594651.313219
Kp = 0.07, Ki = 0.07, Kd = 0.07; error = -423202763.933602
Kp = 0.08, Ki = 0.07, Kd = 0.07; error = 166402292.732810
Kp = 0.09, Ki = 0.07, Kd = 0.07; error = 92299494.896436
Kp = 0.00, Ki = 0.07, Kd = 0.08; error = -344207670.632410
Kp = 0.01, Ki = 0.07, Kd = 0.08; error = -221822114.706203
Kp = 0.02, Ki = 0.07, Kd = 0.08; error = -164443647.996306
Kp = 0.03, Ki = 0.07, Kd = 0.08; error = -167989675.736869
Kp = 0.04, Ki = 0.07, Kd = 0.08; error = -236593008.382792
Kp = 0.05, Ki = 0.07, Kd = 0.08; error = -296141615.370438
Kp = 0.06, Ki = 0.07, Kd = 0.08; error = -194594651.313219
Kp = 0.07, Ki = 0.07, Kd = 0.08; error = -422747441.595606
Kp = 0.08, Ki = 0.07, Kd = 0.08; error = 166402292.732810
Kp = 0.09, Ki = 0.07, Kd = 0.08; error = 92299494.896436
Kp = 0.00, Ki = 0.07, Kd = 0.09; error = -344207670.632410
Kp = 0.01, Ki = 0.07, Kd = 0.09; error = -221822114.706203
Kp = 0.02, Ki = 0.07, Kd = 0.09; error = -164443647.996306
Kp = 0.03, Ki = 0.07, Kd = 0.09; error = -167989675.736869
Kp = 0.04, Ki = 0.07, Kd = 0.09; error = -236593008.382792
Kp = 0.05, Ki = 0.07, Kd = 0.09; error = -296141615.370438
Kp = 0.06, Ki = 0.07, Kd = 0.09; error = -194594651.313219
Kp = 0.07, Ki = 0.07, Kd = 0.09; error = -423045456.794032
Kp = 0.08, Ki = 0.07, Kd = 0.09; error = 166402292.732810
Kp = 0.09, Ki = 0.07, Kd = 0.09; error = 92299494.896436
Kp = 0.00, Ki = 0.08, Kd = 0.00; error = -268469518.579778
Kp = 0.01, Ki = 0.08, Kd = 0.00; error = -421649635.654181
Kp = 0.02, Ki = 0.08, Kd = 0.00; error = -353256906.640868
Kp = 0.03, Ki = 0.08, Kd = 0.00; error = -376284144.330316
Kp = 0.04, Ki = 0.08, Kd = 0.00; error = -398225142.396586
Kp = 0.05, Ki = 0.08, Kd = 0.00; error = -411395759.891622
Kp = 0.06, Ki = 0.08, Kd = 0.00; error = -420532464.797360
Kp = 0.07, Ki = 0.08, Kd = 0.00; error = 184031632.418435
Kp = 0.08, Ki = 0.08, Kd = 0.00; error = 138758588.703249
Kp = 0.09, Ki = 0.08, Kd = 0.00; error = 81817792.573050
Kp = 0.00, Ki = 0.08, Kd = 0.01; error = -421063122.085639
Kp = 0.01, Ki = 0.08, Kd = 0.01; error = -348374120.260782
Kp = 0.02, Ki = 0.08, Kd = 0.01; error = -193189041.380878
Kp = 0.03, Ki = 0.08, Kd = 0.01; error = -230366256.062471
Kp = 0.04, Ki = 0.08, Kd = 0.01; error = -270599145.018185
Kp = 0.05, Ki = 0.08, Kd = 0.01; error = -311365803.503523
Kp = 0.06, Ki = 0.08, Kd = 0.01; error = -343371106.909331
Kp = 0.07, Ki = 0.08, Kd = 0.01; error = 184031632.418435
Kp = 0.08, Ki = 0.08, Kd = 0.01; error = 138758588.703249
Kp = 0.09, Ki = 0.08, Kd = 0.01; error = 81817792.573050
Kp = 0.00, Ki = 0.08, Kd = 0.02; error = -392182438.916408
Kp = 0.01, Ki = 0.08, Kd = 0.02; error = -278504268.280465
Kp = 0.02, Ki = 0.08, Kd = 0.02; error = -141840365.729074
Kp = 0.03, Ki = 0.08, Kd = 0.02; error = -207680864.340048
Kp = 0.04, Ki = 0.08, Kd = 0.02; error = -270599145.018185
Kp = 0.05, Ki = 0.08, Kd = 0.02; error = -311365803.503523
Kp = 0.06, Ki = 0.08, Kd = 0.02; error = -343371106.909331
Kp = 0.07, Ki = 0.08, Kd = 0.02; error = 184031632.418435
Kp = 0.08, Ki = 0.08, Kd = 0.02; error = 138758588.703249
Kp = 0.09, Ki = 0.08, Kd = 0.02; error = 81817792.573050
Kp = 0.00, Ki = 0.08, Kd = 0.03; error = -392182438.916408
Kp = 0.01, Ki = 0.08, Kd = 0.03; error = -278504268.280465
Kp = 0.02, Ki = 0.08, Kd = 0.03; error = -141840365.729074
Kp = 0.03, Ki = 0.08, Kd = 0.03; error = -207680864.340048
Kp = 0.04, Ki = 0.08, Kd = 0.03; error = -270599145.018185
Kp = 0.05, Ki = 0.08, Kd = 0.03; error = -311365803.503523
Kp = 0.06, Ki = 0.08, Kd = 0.03; error = -343371106.909331
Kp = 0.07, Ki = 0.08, Kd = 0.03; error = 184031632.418435
Kp = 0.08, Ki = 0.08, Kd = 0.03; error = 138758588.703249
Kp = 0.09, Ki = 0.08, Kd = 0.03; error = 81817792.573050
Kp = 0.00, Ki = 0.08, Kd = 0.04; error = -392182438.916408
Kp = 0.01, Ki = 0.08, Kd = 0.04; error = -278504268.280465
Kp = 0.02, Ki = 0.08, Kd = 0.04; error = -141840365.729074
Kp = 0.03, Ki = 0.08, Kd = 0.04; error = -207680864.340048
Kp = 0.04, Ki = 0.08, Kd = 0.04; error = -270599145.018185
Kp = 0.05, Ki = 0.08, Kd = 0.04; error = -311365803.503523
Kp = 0.06, Ki = 0.08, Kd = 0.04; error = -343371106.909331
Kp = 0.07, Ki = 0.08, Kd = 0.04; error = 184031632.418435
Kp = 0.08, Ki = 0.08, Kd = 0.04; error = 138758588.703249
Kp = 0.09, Ki = 0.08, Kd = 0.04; error = 81817792.573050
Kp = 0.00, Ki = 0.08, Kd = 0.05; error = -392182438.916408
Kp = 0.01, Ki = 0.08, Kd = 0.05; error = -278504268.280465
Kp = 0.02, Ki = 0.08, Kd = 0.05; error = -141840365.729074
Kp = 0.03, Ki = 0.08, Kd = 0.05; error = -207680864.340048
Kp = 0.04, Ki = 0.08, Kd = 0.05; error = -270599145.018185
Kp = 0.05, Ki = 0.08, Kd = 0.05; error = -311365803.503523
Kp = 0.06, Ki = 0.08, Kd = 0.05; error = -343371106.909331
Kp = 0.07, Ki = 0.08, Kd = 0.05; error = 184031632.418435
Kp = 0.08, Ki = 0.08, Kd = 0.05; error = 138758588.703249
Kp = 0.09, Ki = 0.08, Kd = 0.05; error = 81817792.573050
Kp = 0.00, Ki = 0.08, Kd = 0.06; error = -392182438.916408
Kp = 0.01, Ki = 0.08, Kd = 0.06; error = -278504268.280465
Kp = 0.02, Ki = 0.08, Kd = 0.06; error = -141840365.729074
Kp = 0.03, Ki = 0.08, Kd = 0.06; error = -207680864.340048
Kp = 0.04, Ki = 0.08, Kd = 0.06; error = -270599145.018185
Kp = 0.05, Ki = 0.08, Kd = 0.06; error = -311365803.503523
Kp = 0.06, Ki = 0.08, Kd = 0.06; error = -343371106.909331
Kp = 0.07, Ki = 0.08, Kd = 0.06; error = 184031632.418435
Kp = 0.08, Ki = 0.08, Kd = 0.06; error = 138758588.703249
Kp = 0.09, Ki = 0.08, Kd = 0.06; error = 81817792.573050
Kp = 0.00, Ki = 0.08, Kd = 0.07; error = -392182438.916408
Kp = 0.01, Ki = 0.08, Kd = 0.07; error = -278504268.280465
Kp = 0.02, Ki = 0.08, Kd = 0.07; error = -141840365.729074
Kp = 0.03, Ki = 0.08, Kd = 0.07; error = -207680864.340048
Kp = 0.04, Ki = 0.08, Kd = 0.07; error = -270599145.018185
Kp = 0.05, Ki = 0.08, Kd = 0.07; error = -311365803.503523
Kp = 0.06, Ki = 0.08, Kd = 0.07; error = -343371106.909331
Kp = 0.07, Ki = 0.08, Kd = 0.07; error = 184031632.418435
Kp = 0.08, Ki = 0.08, Kd = 0.07; error = 138758588.703249
Kp = 0.09, Ki = 0.08, Kd = 0.07; error = 81817792.573050
Kp = 0.00, Ki = 0.08, Kd = 0.08; error = -392182438.916408
Kp = 0.01, Ki = 0.08, Kd = 0.08; error = -278504268.280465
Kp = 0.02, Ki = 0.08, Kd = 0.08; error = -141840365.729074
Kp = 0.03, Ki = 0.08, Kd = 0.08; error = -207680864.340048
Kp = 0.04, Ki = 0.08, Kd = 0.08; error = -270599145.018185
Kp = 0.05, Ki = 0.08, Kd = 0.08; error = -311365803.503523
Kp = 0.06, Ki = 0.08, Kd = 0.08; error = -343371106.909331
Kp = 0.07, Ki = 0.08, Kd = 0.08; error = 184031632.418435
Kp = 0.08, Ki = 0.08, Kd = 0.08; error = 138758588.703249
Kp = 0.09, Ki = 0.08, Kd = 0.08; error = 81817792.573050
Kp = 0.00, Ki = 0.08, Kd = 0.09; error = -392182438.916408
Kp = 0.01, Ki = 0.08, Kd = 0.09; error = -278504268.280465
Kp = 0.02, Ki = 0.08, Kd = 0.09; error = -141840365.729074
Kp = 0.03, Ki = 0.08, Kd = 0.09; error = -207680864.340048
Kp = 0.04, Ki = 0.08, Kd = 0.09; error = -270599145.018185
Kp = 0.05, Ki = 0.08, Kd = 0.09; error = -311365803.503523
Kp = 0.06, Ki = 0.08, Kd = 0.09; error = -343371106.909331
Kp = 0.07, Ki = 0.08, Kd = 0.09; error = 184031632.418435
Kp = 0.08, Ki = 0.08, Kd = 0.09; error = 138758588.703249
Kp = 0.09, Ki = 0.08, Kd = 0.09; error = 81817792.573050
Kp = 0.00, Ki = 0.09, Kd = 0.00; error = -405628097.490225
Kp = 0.01, Ki = 0.09, Kd = 0.00; error = -415377454.807139
Kp = 0.02, Ki = 0.09, Kd = 0.00; error = -382271169.949206
Kp = 0.03, Ki = 0.09, Kd = 0.00; error = -398154510.352660
Kp = 0.04, Ki = 0.09, Kd = 0.00; error = -411063317.608522
Kp = 0.05, Ki = 0.09, Kd = 0.00; error = -419594169.847112
Kp = 0.06, Ki = 0.09, Kd = 0.00; error = 195780351.073505
Kp = 0.07, Ki = 0.09, Kd = 0.00; error = 166438992.126103
Kp = 0.08, Ki = 0.09, Kd = 0.00; error = 105300240.214174
Kp = 0.09, Ki = 0.09, Kd = 0.00; error = 70197562.989764
Kp = 0.00, Ki = 0.09, Kd = 0.01; error = -398230991.999396
Kp = 0.01, Ki = 0.09, Kd = 0.01; error = -390348834.277403
Kp = 0.02, Ki = 0.09, Kd = 0.01; error = -248045523.432107
Kp = 0.03, Ki = 0.09, Kd = 0.01; error = -278739843.532381
Kp = 0.04, Ki = 0.09, Kd = 0.01; error = -296625700.193316
Kp = 0.05, Ki = 0.09, Kd = 0.01; error = -325106501.414695
Kp = 0.06, Ki = 0.09, Kd = 0.01; error = 195780351.073505
Kp = 0.07, Ki = 0.09, Kd = 0.01; error = 166438992.126103
Kp = 0.08, Ki = 0.09, Kd = 0.01; error = 105300240.214174
Kp = 0.09, Ki = 0.09, Kd = 0.01; error = 70197562.989764
Kp = 0.00, Ki = 0.09, Kd = 0.02; error = -272760489.658421
Kp = 0.01, Ki = 0.09, Kd = 0.02; error = -325645077.808441
Kp = 0.02, Ki = 0.09, Kd = 0.02; error = -186787305.181490
Kp = 0.03, Ki = 0.09, Kd = 0.02; error = -242560262.027872
Kp = 0.04, Ki = 0.09, Kd = 0.02; error = -288718742.036521
Kp = 0.05, Ki = 0.09, Kd = 0.02; error = -325106501.414695
Kp = 0.06, Ki = 0.09, Kd = 0.02; error = 195780351.073505
Kp = 0.07, Ki = 0.09, Kd = 0.02; error = 166438992.126103
Kp = 0.08, Ki = 0.09, Kd = 0.02; error = 105300240.214174
Kp = 0.09, Ki = 0.09, Kd = 0.02; error = 70197562.989764
Kp = 0.00, Ki = 0.09, Kd = 0.03; error = -261484529.693647
Kp = 0.01, Ki = 0.09, Kd = 0.03; error = -325645077.808441
Kp = 0.02, Ki = 0.09, Kd = 0.03; error = -186787305.181490
Kp = 0.03, Ki = 0.09, Kd = 0.03; error = -242560262.027872
Kp = 0.04, Ki = 0.09, Kd = 0.03; error = -288718742.036521
Kp = 0.05, Ki = 0.09, Kd = 0.03; error = -325106501.414695
Kp = 0.06, Ki = 0.09, Kd = 0.03; error = 195780351.073505
Kp = 0.07, Ki = 0.09, Kd = 0.03; error = 166438992.126103
Kp = 0.08, Ki = 0.09, Kd = 0.03; error = 105300240.214174
Kp = 0.09, Ki = 0.09, Kd = 0.03; error = 70197562.989764
Kp = 0.00, Ki = 0.09, Kd = 0.04; error = -227141541.738365
Kp = 0.01, Ki = 0.09, Kd = 0.04; error = -325645077.808441
Kp = 0.02, Ki = 0.09, Kd = 0.04; error = -186787305.181490
Kp = 0.03, Ki = 0.09, Kd = 0.04; error = -242560262.027872
Kp = 0.04, Ki = 0.09, Kd = 0.04; error = -288718742.036521
Kp = 0.05, Ki = 0.09, Kd = 0.04; error = -325106501.414695
Kp = 0.06, Ki = 0.09, Kd = 0.04; error = 195780351.073505
Kp = 0.07, Ki = 0.09, Kd = 0.04; error = 166438992.126103
Kp = 0.08, Ki = 0.09, Kd = 0.04; error = 105300240.214174
Kp = 0.09, Ki = 0.09, Kd = 0.04; error = 70197562.989764
Kp = 0.00, Ki = 0.09, Kd = 0.05; error = -190272370.659715
Kp = 0.01, Ki = 0.09, Kd = 0.05; error = -325645077.808441
Kp = 0.02, Ki = 0.09, Kd = 0.05; error = -186787305.181490
Kp = 0.03, Ki = 0.09, Kd = 0.05; error = -242560262.027872
Kp = 0.04, Ki = 0.09, Kd = 0.05; error = -288718742.036521
Kp = 0.05, Ki = 0.09, Kd = 0.05; error = -325106501.414695
Kp = 0.06, Ki = 0.09, Kd = 0.05; error = 195780351.073505
Kp = 0.07, Ki = 0.09, Kd = 0.05; error = 166438992.126103
Kp = 0.08, Ki = 0.09, Kd = 0.05; error = 105300240.214174
Kp = 0.09, Ki = 0.09, Kd = 0.05; error = 70197562.989764
Kp = 0.00, Ki = 0.09, Kd = 0.06; error = -147886042.511221
Kp = 0.01, Ki = 0.09, Kd = 0.06; error = -325645077.808441
Kp = 0.02, Ki = 0.09, Kd = 0.06; error = -186787305.181490
Kp = 0.03, Ki = 0.09, Kd = 0.06; error = -242560262.027872
Kp = 0.04, Ki = 0.09, Kd = 0.06; error = -288718742.036521
Kp = 0.05, Ki = 0.09, Kd = 0.06; error = -325106501.414695
Kp = 0.06, Ki = 0.09, Kd = 0.06; error = 195780351.073505
Kp = 0.07, Ki = 0.09, Kd = 0.06; error = 166438992.126103
Kp = 0.08, Ki = 0.09, Kd = 0.06; error = 105300240.214174
Kp = 0.09, Ki = 0.09, Kd = 0.06; error = 70197562.989764
Kp = 0.00, Ki = 0.09, Kd = 0.07; error = -147886042.511221
Kp = 0.01, Ki = 0.09, Kd = 0.07; error = -325645077.808441
Kp = 0.02, Ki = 0.09, Kd = 0.07; error = -186787305.181490
Kp = 0.03, Ki = 0.09, Kd = 0.07; error = -242560262.027872
Kp = 0.04, Ki = 0.09, Kd = 0.07; error = -288718742.036521
Kp = 0.05, Ki = 0.09, Kd = 0.07; error = -325106501.414695
Kp = 0.06, Ki = 0.09, Kd = 0.07; error = 195780351.073505
Kp = 0.07, Ki = 0.09, Kd = 0.07; error = 166438992.126103
Kp = 0.08, Ki = 0.09, Kd = 0.07; error = 105300240.214174
Kp = 0.09, Ki = 0.09, Kd = 0.07; error = 70197562.989764
Kp = 0.00, Ki = 0.09, Kd = 0.08; error = -147886042.511221
Kp = 0.01, Ki = 0.09, Kd = 0.08; error = -325645077.808441
Kp = 0.02, Ki = 0.09, Kd = 0.08; error = -186787305.181490
Kp = 0.03, Ki = 0.09, Kd = 0.08; error = -242560262.027872
Kp = 0.04, Ki = 0.09, Kd = 0.08; error = -288718742.036521
Kp = 0.05, Ki = 0.09, Kd = 0.08; error = -325106501.414695
Kp = 0.06, Ki = 0.09, Kd = 0.08; error = 195780351.073505
Kp = 0.07, Ki = 0.09, Kd = 0.08; error = 166438992.126103
Kp = 0.08, Ki = 0.09, Kd = 0.08; error = 105300240.214174
Kp = 0.09, Ki = 0.09, Kd = 0.08; error = 70197562.989764
Kp = 0.00, Ki = 0.09, Kd = 0.09; error = -147886042.511221
Kp = 0.01, Ki = 0.09, Kd = 0.09; error = -325645077.808441
Kp = 0.02, Ki = 0.09, Kd = 0.09; error = -186787305.181490
Kp = 0.03, Ki = 0.09, Kd = 0.09; error = -242560262.027872
Kp = 0.04, Ki = 0.09, Kd = 0.09; error = -288718742.036521
Kp = 0.05, Ki = 0.09, Kd = 0.09; error = -325106501.414695
Kp = 0.06, Ki = 0.09, Kd = 0.09; error = 195780351.073505
Kp = 0.07, Ki = 0.09, Kd = 0.09; error = 166438992.126103
Kp = 0.08, Ki = 0.09, Kd = 0.09; error = 105300240.214174
Kp = 0.09, Ki = 0.09, Kd = 0.09; error = 70197562.989764
Kp = 0.00, Ki = 0.00, Kd = 0.00; error = 0.000000
Kp = 0.01, Ki = 0.00, Kd = 0.00; error = -4376721.597653
Kp = 0.02, Ki = 0.00, Kd = 0.00; error = -40135996.725252
Kp = 0.03, Ki = 0.00, Kd = 0.00; error = -5273577.620068
Kp = 0.04, Ki = 0.00, Kd = 0.00; error = -29823084.834680
Kp = 0.05, Ki = 0.00, Kd = 0.00; error = -203316740.865891
Kp = 0.00, Ki = 0.00, Kd = 0.01; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.01; error = -2591012.954633
Kp = 0.02, Ki = 0.00, Kd = 0.01; error = -923323.137163
Kp = 0.03, Ki = 0.00, Kd = 0.01; error = -4052981.089073
Kp = 0.04, Ki = 0.00, Kd = 0.01; error = -1906017.709038
Kp = 0.05, Ki = 0.00, Kd = 0.01; error = -69959646.083367
Kp = 0.00, Ki = 0.00, Kd = 0.02; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.02; error = -1762866.854177
Kp = 0.02, Ki = 0.00, Kd = 0.02; error = -956996.770337
Kp = 0.03, Ki = 0.00, Kd = 0.02; error = -300979.530971
Kp = 0.04, Ki = 0.00, Kd = 0.02; error = -2141503.836727
Kp = 0.05, Ki = 0.00, Kd = 0.02; error = -105108585.173360
Kp = 0.00, Ki = 0.00, Kd = 0.03; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.03; error = -1783064.596122
Kp = 0.02, Ki = 0.00, Kd = 0.03; error = -808955.048067
Kp = 0.03, Ki = 0.00, Kd = 0.03; error = -1132900.063527
Kp = 0.04, Ki = 0.00, Kd = 0.03; error = -2245233.911580
Kp = 0.05, Ki = 0.00, Kd = 0.03; error = -7592726.247365
Kp = 0.00, Ki = 0.00, Kd = 0.04; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.04; error = -3059763.883571
Kp = 0.02, Ki = 0.00, Kd = 0.04; error = -369003.937765
Kp = 0.03, Ki = 0.00, Kd = 0.04; error = -1432962.225813
Kp = 0.04, Ki = 0.00, Kd = 0.04; error = -2685768.006256
Kp = 0.05, Ki = 0.00, Kd = 0.04; error = -48761880.149278
Kp = 0.00, Ki = 0.00, Kd = 0.05; error = -139844.033383
Kp = 0.01, Ki = 0.00, Kd = 0.05; error = -1732932.772169
Kp = 0.02, Ki = 0.00, Kd = 0.05; error = -901820.333816
Kp = 0.03, Ki = 0.00, Kd = 0.05; error = -1841016.709627
Kp = 0.04, Ki = 0.00, Kd = 0.05; error = -2276729.771802
Kp = 0.05, Ki = 0.00, Kd = 0.05; error = -4955407.217703
Kp = 0.00, Ki = -0.01, Kd = 0.00; error = 181027596.947268
Kp = 0.01, Ki = -0.01, Kd = 0.00; error = 325854955.142913
Kp = 0.02, Ki = -0.01, Kd = 0.00; error = 226397131.630709
Kp = 0.03, Ki = -0.01, Kd = 0.00; error = 405793305.074387
Kp = 0.04, Ki = -0.01, Kd = 0.00; error = 146554838.225358
Kp = 0.05, Ki = -0.01, Kd = 0.00; error = 280992286.880139
Kp = 0.00, Ki = -0.01, Kd = 0.01; error = 343575975.753477
Kp = 0.01, Ki = -0.01, Kd = 0.01; error = 302510358.475224
Kp = 0.02, Ki = -0.01, Kd = 0.01; error = 310000364.033993
Kp = 0.03, Ki = -0.01, Kd = 0.01; error = 271236971.617918
Kp = 0.04, Ki = -0.01, Kd = 0.01; error = 90658806.464898
Kp = 0.05, Ki = -0.01, Kd = 0.01; error = 55192873.159661
Kp = 0.00, Ki = -0.01, Kd = 0.02; error = 389871153.383969
Kp = 0.01, Ki = -0.01, Kd = 0.02; error = 90802567.732835
Kp = 0.02, Ki = -0.01, Kd = 0.02; error = 331846544.498453
Kp = 0.03, Ki = -0.01, Kd = 0.02; error = 342123962.641296
Kp = 0.04, Ki = -0.01, Kd = 0.02; error = 26189593.283977
Kp = 0.05, Ki = -0.01, Kd = 0.02; error = 348837554.714837
Kp = 0.00, Ki = -0.01, Kd = 0.03; error = 396390238.471955
Kp = 0.01, Ki = -0.01, Kd = 0.03; error = 143837041.253616
Kp = 0.02, Ki = -0.01, Kd = 0.03; error = 316819273.317386
Kp = 0.03, Ki = -0.01, Kd = 0.03; error = 368559680.671727
Kp = 0.04, Ki = -0.01, Kd = 0.03; error = 279676709.830842
Kp = 0.05, Ki = -0.01, Kd = 0.03; error = 363093478.802332
Kp = 0.00, Ki = -0.01, Kd = 0.04; error = 396390238.471955
Kp = 0.01, Ki = -0.01, Kd = 0.04; error = 101248404.505794
Kp = 0.02, Ki = -0.01, Kd = 0.04; error = 316819273.317386
Kp = 0.03, Ki = -0.01, Kd = 0.04; error = 291657740.758452
Kp = 0.04, Ki = -0.01, Kd = 0.04; error = 86771298.553576
Kp = 0.05, Ki = -0.01, Kd = 0.04; error = 370216609.452079
Kp = 0.00, Ki = -0.01, Kd = 0.05; error = 396390238.471955
Kp = 0.01, Ki = -0.01, Kd = 0.05; error = 99505202.038349
Kp = 0.02, Ki = -0.01, Kd = 0.05; error = 316819273.317386
Kp = 0.03, Ki = -0.01, Kd = 0.05; error = 356793836.934228
Kp = 0.04, Ki = -0.01, Kd = 0.05; error = 86771298.553576
Kp = 0.05, Ki = -0.01, Kd = 0.05; error = 330880635.270085
Kp = 0.00, Ki = -0.02, Kd = 0.00; error = 296890025.692491
Kp = 0.01, Ki = -0.02, Kd = 0.00; error = 353176154.542556
Kp = 0.02, Ki = -0.02, Kd = 0.00; error = 287573755.906746
Kp = 0.03, Ki = -0.02, Kd = 0.00; error = 280034741.602473
Kp = 0.04, Ki = -0.02, Kd = 0.00; error = 407207611.460496
Kp = 0.05, Ki = -0.02, Kd = 0.00; error = 244315835.536728
Kp = 0.00, Ki = -0.02, Kd = 0.01; error = 374485947.373402
Kp = 0.01, Ki = -0.02, Kd = 0.01; error = 243551449.849462
Kp = 0.02, Ki = -0.02, Kd = 0.01; error = 187254050.974318
Kp = 0.03, Ki = -0.02, Kd = 0.01; error = 168527936.596742
Kp = 0.04, Ki = -0.02, Kd = 0.01; error = 104230505.211255
Kp = 0.05, Ki = -0.02, Kd = 0.01; error = 298615618.507473
Kp = 0.00, Ki = -0.02, Kd = 0.02; error = 374485947.373402
Kp = 0.01, Ki = -0.02, Kd = 0.02; error = 285699741.636321
Kp = 0.02, Ki = -0.02, Kd = 0.02; error = 187254050.974318
Kp = 0.03, Ki = -0.02, Kd = 0.02; error = 395914326.428230
Kp = 0.04, Ki = -0.02, Kd = 0.02; error = 108193505.608193
Kp = 0.05, Ki = -0.02, Kd = 0.02; error = 369759423.177069
Kp = 0.00, Ki = -0.02, Kd = 0.03; error = 374485947.373402
Kp = 0.01, Ki = -0.02, Kd = 0.03; error = 285699741.636321
Kp = 0.02, Ki = -0.02, Kd = 0.03; error = 187254050.974318
Kp = 0.03, Ki = -0.02, Kd = 0.03; error = 381582250.864780
Kp = 0.04, Ki = -0.02, Kd = 0.03; error = 102948276.374350
Kp = 0.05, Ki = -0.02, Kd = 0.03; error = 401215417.704626
Kp = 0.00, Ki = -0.02, Kd = 0.04; error = 374485947.373402
Kp = 0.01, Ki = -0.02, Kd = 0.04; error = 285699741.636321
Kp = 0.02, Ki = -0.02, Kd = 0.04; error = 187254050.974318
Kp = 0.03, Ki = -0.02, Kd = 0.04; error = 400769230.268761
Kp = 0.04, Ki = -0.02, Kd = 0.04; error = 94473024.772043
Kp = 0.05, Ki = -0.02, Kd = 0.04; error = 380750297.152987
Kp = 0.00, Ki = -0.02, Kd = 0.05; error = 374485947.373402
Kp = 0.01, Ki = -0.02, Kd = 0.05; error = 285699741.636321
Kp = 0.02, Ki = -0.02, Kd = 0.05; error = 187254050.974318
Kp = 0.03, Ki = -0.02, Kd = 0.05; error = 134229490.052963
Kp = 0.04, Ki = -0.02, Kd = 0.05; error = 83581825.260412
Kp = 0.05, Ki = -0.02, Kd = 0.05; error = 377532995.256995
Kp = 0.00, Ki = -0.03, Kd = 0.00; error = 314689536.470383
Kp = 0.01, Ki = -0.03, Kd = 0.00; error = 254766033.431480
Kp = 0.02, Ki = -0.03, Kd = 0.00; error = 363010110.068324
Kp = 0.03, Ki = -0.03, Kd = 0.00; error = 263702513.026801
Kp = 0.04, Ki = -0.03, Kd = 0.00; error = 291143106.039828
Kp = 0.05, Ki = -0.03, Kd = 0.00; error = 401887855.419785
Kp = 0.00, Ki = -0.03, Kd = 0.01; error = 376623697.275455
Kp = 0.01, Ki = -0.03, Kd = 0.01; error = 382088604.089352
Kp = 0.02, Ki = -0.03, Kd = 0.01; error = 324435929.358253
Kp = 0.03, Ki = -0.03, Kd = 0.01; error = 80757078.969904
Kp = 0.04, Ki = -0.03, Kd = 0.01; error = 116680795.412485
Kp = 0.05, Ki = -0.03, Kd = 0.01; error = 128357357.704398
Kp = 0.00, Ki = -0.03, Kd = 0.02; error = 376623697.275455
Kp = 0.01, Ki = -0.03, Kd = 0.02; error = 382088604.089352
Kp = 0.02, Ki = -0.03, Kd = 0.02; error = 324435929.358253
Kp = 0.03, Ki = -0.03, Kd = 0.02; error = 246880232.635450
Kp = 0.04, Ki = -0.03, Kd = 0.02; error = 116680795.412485
Kp = 0.05, Ki = -0.03, Kd = 0.02; error = 81158951.014566
Kp = 0.00, Ki = -0.03, Kd = 0.03; error = 376623697.275455
Kp = 0.01, Ki = -0.03, Kd = 0.03; error = 382088604.089352
Kp = 0.02, Ki = -0.03, Kd = 0.03; error = 324435929.358253
Kp = 0.03, Ki = -0.03, Kd = 0.03; error = 364963645.128244
Kp = 0.04, Ki = -0.03, Kd = 0.03; error = 116680795.412485
Kp = 0.05, Ki = -0.03, Kd = 0.03; error = 219635150.127036
Kp = 0.00, Ki = -0.03, Kd = 0.04; error = 376623697.275455
Kp = 0.01, Ki = -0.03, Kd = 0.04; error = 382088604.089352
Kp = 0.02, Ki = -0.03, Kd = 0.04; error = 324435929.358253
Kp = 0.03, Ki = -0.03, Kd = 0.04; error = 384324243.247877
Kp = 0.04, Ki = -0.03, Kd = 0.04; error = 116680795.412485
Kp = 0.05, Ki = -0.03, Kd = 0.04; error = 204961164.166078
Kp = 0.00, Ki = -0.03, Kd = 0.05; error = 376623697.275455
Kp = 0.01, Ki = -0.03, Kd = 0.05; error = 382088604.089352
Kp = 0.02, Ki = -0.03, Kd = 0.05; error = 324435929.358253
Kp = 0.03, Ki = -0.03, Kd = 0.05; error = 371872522.366010
Kp = 0.04, Ki = -0.03, Kd = 0.05; error = 116680795.412485
Kp = 0.05, Ki = -0.03, Kd = 0.05; error = 117654257.471937
Kp = 0.00, Ki = -0.04, Kd = 0.00; error = 404278169.716730
Kp = 0.01, Ki = -0.04, Kd = 0.00; error = 160563747.914758
Kp = 0.02, Ki = -0.04, Kd = 0.00; error = 383311221.028848
Kp = 0.03, Ki = -0.04, Kd = 0.00; error = 330170241.409307
Kp = 0.04, Ki = -0.04, Kd = 0.00; error = 304388797.692951
Kp = 0.05, Ki = -0.04, Kd = 0.00; error = 382945188.639407
Kp = 0.00, Ki = -0.04, Kd = 0.01; error = 419448074.634876
Kp = 0.01, Ki = -0.04, Kd = 0.01; error = 404996311.984099
Kp = 0.02, Ki = -0.04, Kd = 0.01; error = 289949387.599164
Kp = 0.03, Ki = -0.04, Kd = 0.01; error = 381713958.865120
Kp = 0.04, Ki = -0.04, Kd = 0.01; error = 207873811.969687
Kp = 0.05, Ki = -0.04, Kd = 0.01; error = 374774870.424526
Kp = 0.00, Ki = -0.04, Kd = 0.02; error = 419448074.634876
Kp = 0.01, Ki = -0.04, Kd = 0.02; error = 404996311.984099
Kp = 0.02, Ki = -0.04, Kd = 0.02; error = 387957164.465477
Kp = 0.03, Ki = -0.04, Kd = 0.02; error = 408077608.555511
Kp = 0.04, Ki = -0.04, Kd = 0.02; error = 207873811.969687
Kp = 0.05, Ki = -0.04, Kd = 0.02; error = 186378345.273742
Kp = 0.00, Ki = -0.04, Kd = 0.03; error = 419448074.634876
Kp = 0.01, Ki = -0.04, Kd = 0.03; error = 404996311.984099
Kp = 0.02, Ki = -0.04, Kd = 0.03; error = 387957164.465477
Kp = 0.03, Ki = -0.04, Kd = 0.03; error = 366087425.767854
Kp = 0.04, Ki = -0.04, Kd = 0.03; error = 207873811.969687
Kp = 0.05, Ki = -0.04, Kd = 0.03; error = 349859242.993636
Kp = 0.00, Ki = -0.04, Kd = 0.04; error = 419448074.634876
Kp = 0.01, Ki = -0.04, Kd = 0.04; error = 404996311.984099
Kp = 0.02, Ki = -0.04, Kd = 0.04; error = 387957164.465477
Kp = 0.03, Ki = -0.04, Kd = 0.04; error = 394988108.564064
Kp = 0.04, Ki = -0.04, Kd = 0.04; error = 207873811.969687
Kp = 0.05, Ki = -0.04, Kd = 0.04; error = 349859242.993636
Kp = 0.00, Ki = -0.04, Kd = 0.05; error = 419448074.634876
Kp = 0.01, Ki = -0.04, Kd = 0.05; error = 404996311.984099
Kp = 0.02, Ki = -0.04, Kd = 0.05; error = 387957164.465477
Kp = 0.03, Ki = -0.04, Kd = 0.05; error = 394988108.564064
Kp = 0.04, Ki = -0.04, Kd = 0.05; error = 207873811.969687
Kp = 0.05, Ki = -0.04, Kd = 0.05; error = 349859242.993636
Kp = 0.00, Ki = -0.05, Kd = 0.00; error = 395247893.687692
Kp = 0.01, Ki = -0.05, Kd = 0.00; error = 213054922.078447
Kp = 0.02, Ki = -0.05, Kd = 0.00; error = 361795264.930124
Kp = 0.03, Ki = -0.05, Kd = 0.00; error = 409070113.852975
Kp = 0.04, Ki = -0.05, Kd = 0.00; error = 317532485.869361
Kp = 0.05, Ki = -0.05, Kd = 0.00; error = 377372364.529299
Kp = 0.00, Ki = -0.05, Kd = 0.01; error = 417810022.971385
Kp = 0.01, Ki = -0.05, Kd = 0.01; error = 342775778.499935
Kp = 0.02, Ki = -0.05, Kd = 0.01; error = 322792772.501702
Kp = 0.03, Ki = -0.05, Kd = 0.01; error = 270965770.023688
Kp = 0.04, Ki = -0.05, Kd = 0.01; error = 233499194.874777
Kp = 0.05, Ki = -0.05, Kd = 0.01; error = 296758498.316629
Kp = 0.00, Ki = -0.05, Kd = 0.02; error = 417810022.971385
Kp = 0.01, Ki = -0.05, Kd = 0.02; error = 342775778.499935
Kp = 0.02, Ki = -0.05, Kd = 0.02; error = 365384428.521594
Kp = 0.03, Ki = -0.05, Kd = 0.02; error = 157254612.713212
Kp = 0.04, Ki = -0.05, Kd = 0.02; error = 352162060.182710
Kp = 0.05, Ki = -0.05, Kd = 0.02; error = 306743888.053003
Kp = 0.00, Ki = -0.05, Kd = 0.03; error = 417810022.971385
Kp = 0.01, Ki = -0.05, Kd = 0.03; error = 342775778.499935
Kp = 0.02, Ki = -0.05, Kd = 0.03; error = 354247716.751275
Kp = 0.03, Ki = -0.05, Kd = 0.03; error = 162304037.940696
Kp = 0.04, Ki = -0.05, Kd = 0.03; error = 197897156.190789
Kp = 0.05, Ki = -0.05, Kd = 0.03; error = 316257017.460047
Kp = 0.00, Ki = -0.05, Kd = 0.04; error = 417810022.971385
Kp = 0.01, Ki = -0.05, Kd = 0.04; error = 342775778.499935
Kp = 0.02, Ki = -0.05, Kd = 0.04; error = 342227966.091264
Kp = 0.03, Ki = -0.05, Kd = 0.04; error = 388403513.368485
Kp = 0.04, Ki = -0.05, Kd = 0.04; error = 367818718.059920
Kp = 0.05, Ki = -0.05, Kd = 0.04; error = 325284460.493091
Kp = 0.00, Ki = -0.05, Kd = 0.05; error = 417810022.971385
Kp = 0.01, Ki = -0.05, Kd = 0.05; error = 342775778.499935
Kp = 0.02, Ki = -0.05, Kd = 0.05; error = 347600324.963277
Kp = 0.03, Ki = -0.05, Kd = 0.05; error = 114534937.137509
Kp = 0.04, Ki = -0.05, Kd = 0.05; error = 314345654.666782
Kp = 0.05, Ki = -0.05, Kd = 0.05; error = 333813917.521591
Kp = 0.00, Ki = -0.06, Kd = 0.00; error = 420849463.103124
Kp = 0.01, Ki = -0.06, Kd = 0.00; error = 395437896.403127
Kp = 0.02, Ki = -0.06, Kd = 0.00; error = 194309401.798979
Kp = 0.03, Ki = -0.06, Kd = 0.00; error = 415698445.941706
Kp = 0.04, Ki = -0.06, Kd = 0.00; error = 390004392.894161
Kp = 0.05, Ki = -0.06, Kd = 0.00; error = 380486496.921802
Kp = 0.00, Ki = -0.06, Kd = 0.01; error = 410953570.446939
Kp = 0.01, Ki = -0.06, Kd = 0.01; error = 397122539.916828
Kp = 0.02, Ki = -0.06, Kd = 0.01; error = 66474350.403571
Kp = 0.03, Ki = -0.06, Kd = 0.01; error = 86905672.675674
Kp = 0.04, Ki = -0.06, Kd = 0.01; error = 130635861.909760
Kp = 0.05, Ki = -0.06, Kd = 0.01; error = 179407454.029248
Kp = 0.00, Ki = -0.06, Kd = 0.02; error = 410953570.446939
Kp = 0.01, Ki = -0.06, Kd = 0.02; error = 314442139.470563
Kp = 0.02, Ki = -0.06, Kd = 0.02; error = 330683156.331735
Kp = 0.03, Ki = -0.06, Kd = 0.02; error = 86905672.675674
Kp = 0.04, Ki = -0.06, Kd = 0.02; error = 130635861.909760
Kp = 0.05, Ki = -0.06, Kd = 0.02; error = 179407454.029248
Kp = 0.00, Ki = -0.06, Kd = 0.03; error = 410953570.446939
Kp = 0.01, Ki = -0.06, Kd = 0.03; error = -3850287.235815
Kp = 0.02, Ki = -0.06, Kd = 0.03; error = 330683156.331735
Kp = 0.03, Ki = -0.06, Kd = 0.03; error = 86905672.675674
Kp = 0.04, Ki = -0.06, Kd = 0.03; error = 130635861.909760
Kp = 0.05, Ki = -0.06, Kd = 0.03; error = 179407454.029248
Kp = 0.00, Ki = -0.06, Kd = 0.04; error = 410953570.446939
Kp = 0.01, Ki = -0.06, Kd = 0.04; error = 88233161.867890
Kp = 0.02, Ki = -0.06, Kd = 0.04; error = 330683156.331735
Kp = 0.03, Ki = -0.06, Kd = 0.04; error = 86905672.675674
Kp = 0.04, Ki = -0.06, Kd = 0.04; error = 130635861.909760
Kp = 0.05, Ki = -0.06, Kd = 0.04; error = 179407454.029248
Kp = 0.00, Ki = -0.06, Kd = 0.05; error = 410953570.446939
Kp = 0.01, Ki = -0.06, Kd = 0.05; error = 80965479.344740
Kp = 0.02, Ki = -0.06, Kd = 0.05; error = 330683156.331735
Kp = 0.03, Ki = -0.06, Kd = 0.05; error = 86905672.675674
Kp = 0.04, Ki = -0.06, Kd = 0.05; error = 130635861.909760
Kp = 0.05, Ki = -0.06, Kd = 0.05; error = 179407454.029248
Kp = 0.00, Ki = -0.07, Kd = 0.00; error = 391206964.914398
Kp = 0.01, Ki = -0.07, Kd = 0.00; error = 414166221.318926
Kp = 0.02, Ki = -0.07, Kd = 0.00; error = 101961717.393559
Kp = 0.03, Ki = -0.07, Kd = 0.00; error = 232228676.219075
Kp = 0.04, Ki = -0.07, Kd = 0.00; error = 395943632.575870
Kp = 0.05, Ki = -0.07, Kd = 0.00; error = 418254434.209823
Kp = 0.00, Ki = -0.07, Kd = 0.01; error = 345904323.983712
Kp = 0.01, Ki = -0.07, Kd = 0.01; error = 333333866.492715
Kp = 0.02, Ki = -0.07, Kd = 0.01; error = 116372962.379663
Kp = 0.03, Ki = -0.07, Kd = 0.01; error = 204947184.298615
Kp = 0.04, Ki = -0.07, Kd = 0.01; error = 333675132.508506
Kp = 0.05, Ki = -0.07, Kd = 0.01; error = 226406844.829185
Kp = 0.00, Ki = -0.07, Kd = 0.02; error = 345904323.983712
Kp = 0.01, Ki = -0.07, Kd = 0.02; error = 322909640.713910
Kp = 0.02, Ki = -0.07, Kd = 0.02; error = 212170827.149088
Kp = 0.03, Ki = -0.07, Kd = 0.02; error = 326238709.211477
Kp = 0.04, Ki = -0.07, Kd = 0.02; error = 278469481.384427
Kp = 0.05, Ki = -0.07, Kd = 0.02; error = 177907141.966995
Kp = 0.00, Ki = -0.07, Kd = 0.03; error = 345904323.983712
Kp = 0.01, Ki = -0.07, Kd = 0.03; error = 311888628.208297
Kp = 0.02, Ki = -0.07, Kd = 0.03; error = -190094561.615998
Kp = 0.03, Ki = -0.07, Kd = 0.03; error = 327647546.112276
Kp = 0.04, Ki = -0.07, Kd = 0.03; error = 124322258.500365
Kp = 0.05, Ki = -0.07, Kd = 0.03; error = 266491502.755072
Kp = 0.00, Ki = -0.07, Kd = 0.04; error = 345904323.983712
Kp = 0.01, Ki = -0.07, Kd = 0.04; error = 300274030.320605
Kp = 0.02, Ki = -0.07, Kd = 0.04; error = 332774719.347689
Kp = 0.03, Ki = -0.07, Kd = 0.04; error = 383487610.443560
Kp = 0.04, Ki = -0.07, Kd = 0.04; error = 72219085.567990
Kp = 0.05, Ki = -0.07, Kd = 0.04; error = 401291873.465439
Kp = 0.00, Ki = -0.07, Kd = 0.05; error = 345904323.983712
Kp = 0.01, Ki = -0.07, Kd = 0.05; error = 288068725.182673
Kp = 0.02, Ki = -0.07, Kd = 0.05; error = 332774719.347689
Kp = 0.03, Ki = -0.07, Kd = 0.05; error = 240957501.727484
Kp = 0.04, Ki = -0.07, Kd = 0.05; error = 163845429.454354
Kp = 0.05, Ki = -0.07, Kd = 0.05; error = 141405313.555441
Kp = 0.00, Ki = -0.08, Kd = 0.00; error = 268469518.579778
Kp = 0.01, Ki = -0.08, Kd = 0.00; error = 140121314.264484
Kp = 0.02, Ki = -0.08, Kd = 0.00; error = 318285205.329072
Kp = 0.03, Ki = -0.08, Kd = 0.00; error = -55875114.074645
Kp = 0.04, Ki = -0.08, Kd = 0.00; error = 350641897.140473
Kp = 0.05, Ki = -0.08, Kd = 0.00; error = 419055906.088275
Kp = 0.00, Ki = -0.08, Kd = 0.01; error = 221884433.875947
Kp = 0.01, Ki = -0.08, Kd = 0.01; error = 203381805.830610
Kp = 0.02, Ki = -0.08, Kd = 0.01; error = 103539100.563660
Kp = 0.03, Ki = -0.08, Kd = 0.01; error = -55875114.074645
Kp = 0.04, Ki = -0.08, Kd = 0.01; error = 74567675.927073
Kp = 0.05, Ki = -0.08, Kd = 0.01; error = -17810004.680026
Kp = 0.00, Ki = -0.08, Kd = 0.02; error = 221884433.875947
Kp = 0.01, Ki = -0.08, Kd = 0.02; error = 161294119.010851
Kp = 0.02, Ki = -0.08, Kd = 0.02; error = 104470647.015753
Kp = 0.03, Ki = -0.08, Kd = 0.02; error = -55875114.074645
Kp = 0.04, Ki = -0.08, Kd = 0.02; error = 87972553.388469
Kp = 0.05, Ki = -0.08, Kd = 0.02; error = -17810004.680026
Kp = 0.00, Ki = -0.08, Kd = 0.03; error = 221884433.875947
Kp = 0.01, Ki = -0.08, Kd = 0.03; error = 161294119.010851
Kp = 0.02, Ki = -0.08, Kd = 0.03; error = 172000373.081789
Kp = 0.03, Ki = -0.08, Kd = 0.03; error = -55875114.074645
Kp = 0.04, Ki = -0.08, Kd = 0.03; error = 87972553.388469
Kp = 0.05, Ki = -0.08, Kd = 0.03; error = -17810004.680026
Kp = 0.00, Ki = -0.08, Kd = 0.04; error = 221884433.875947
Kp = 0.01, Ki = -0.08, Kd = 0.04; error = 161294119.010851
Kp = 0.02, Ki = -0.08, Kd = 0.04; error = 268815202.984502
Kp = 0.03, Ki = -0.08, Kd = 0.04; error = -55875114.074645
Kp = 0.04, Ki = -0.08, Kd = 0.04; error = 87972553.388469
Kp = 0.05, Ki = -0.08, Kd = 0.04; error = -17810004.680026
Kp = 0.00, Ki = -0.08, Kd = 0.05; error = 221884433.875947
Kp = 0.01, Ki = -0.08, Kd = 0.05; error = 161294119.010851
Kp = 0.02, Ki = -0.08, Kd = 0.05; error = 144579030.202164
Kp = 0.03, Ki = -0.08, Kd = 0.05; error = -55875114.074645
Kp = 0.04, Ki = -0.08, Kd = 0.05; error = 87972553.388469
Kp = 0.05, Ki = -0.08, Kd = 0.05; error = -17810004.680026
Kp = 0.00, Ki = -0.09, Kd = 0.00; error = 405628097.490225
Kp = 0.01, Ki = -0.09, Kd = 0.00; error = 320621295.850467
Kp = 0.02, Ki = -0.09, Kd = 0.00; error = -22360318.347153
Kp = 0.03, Ki = -0.09, Kd = 0.00; error = -42773275.825323
Kp = 0.04, Ki = -0.09, Kd = 0.00; error = 378745205.616623
Kp = 0.05, Ki = -0.09, Kd = 0.00; error = 419397064.572826
Kp = 0.00, Ki = -0.09, Kd = 0.01; error = 250437620.099815
Kp = 0.01, Ki = -0.09, Kd = 0.01; error = 194173398.617027
Kp = 0.02, Ki = -0.09, Kd = 0.01; error = -46009658.771043
Kp = 0.03, Ki = -0.09, Kd = 0.01; error = -42773275.825323
Kp = 0.04, Ki = -0.09, Kd = 0.01; error = 142220288.386270
Kp = 0.05, Ki = -0.09, Kd = 0.01; error = 205516103.962303
Kp = 0.00, Ki = -0.09, Kd = 0.02; error = 401374392.867636
Kp = 0.01, Ki = -0.09, Kd = 0.02; error = 194173398.617027
Kp = 0.02, Ki = -0.09, Kd = 0.02; error = -55561789.820192
Kp = 0.03, Ki = -0.09, Kd = 0.02; error = -42773275.825323
Kp = 0.04, Ki = -0.09, Kd = 0.02; error = -29994266.179296
Kp = 0.05, Ki = -0.09, Kd = 0.02; error = 223353668.023072
Kp = 0.00, Ki = -0.09, Kd = 0.03; error = -97615815.726032
Kp = 0.01, Ki = -0.09, Kd = 0.03; error = 194173398.617027
Kp = 0.02, Ki = -0.09, Kd = 0.03; error = -15318281.180809
Kp = 0.03, Ki = -0.09, Kd = 0.03; error = -42773275.825323
Kp = 0.04, Ki = -0.09, Kd = 0.03; error = -69955975.736508
Kp = 0.05, Ki = -0.09, Kd = 0.03; error = 201817241.456990
Kp = 0.00, Ki = -0.09, Kd = 0.04; error = -97615815.726032
Kp = 0.01, Ki = -0.09, Kd = 0.04; error = 194173398.617027
Kp = 0.02, Ki = -0.09, Kd = 0.04; error = -15318281.180809
Kp = 0.03, Ki = -0.09, Kd = 0.04; error = -42773275.825323
Kp = 0.04, Ki = -0.09, Kd = 0.04; error = -69955975.736508
Kp = 0.05, Ki = -0.09, Kd = 0.04; error = 201817241.456990
Kp = 0.00, Ki = -0.09, Kd = 0.05; error = -97615815.726032
Kp = 0.01, Ki = -0.09, Kd = 0.05; error = 194173398.617027
Kp = 0.02, Ki = -0.09, Kd = 0.05; error = -15318281.180809
Kp = 0.03, Ki = -0.09, Kd = 0.05; error = -42773275.825323
Kp = 0.04, Ki = -0.09, Kd = 0.05; error = -69955975.736508
Kp = 0.05, Ki = -0.09, Kd = 0.05; error = 201817241.456990
Kp = 0.00, Ki = 0.00, Kd = 0.00; error = 0.000000
Kp = 0.01, Ki = 0.00, Kd = 0.00; error = -18247445.445864
Kp = 0.02, Ki = 0.00, Kd = 0.00; error = -65551490.844865
Kp = 0.03, Ki = 0.00, Kd = 0.00; error = -109350160.262155
Kp = 0.04, Ki = 0.00, Kd = 0.00; error = 417736446.709497
Kp = 0.05, Ki = 0.00, Kd = 0.00; error = -333505758.945944
Kp = 0.00, Ki = 0.00, Kd = 0.01; error = -134393.602641
Kp = 0.01, Ki = 0.00, Kd = 0.01; error = -35511.104296
Kp = 0.02, Ki = 0.00, Kd = 0.01; error = -48691.930741
Kp = 0.03, Ki = 0.00, Kd = 0.01; error = 53461.497762
Kp = 0.04, Ki = 0.00, Kd = 0.01; error = 127720.965979
Kp = 0.05, Ki = 0.00, Kd = 0.01; error = 158034305.693663
Kp = 0.00, Ki = 0.00, Kd = 0.02; error = -134393.602641
Kp = 0.01, Ki = 0.00, Kd = 0.02; error = -30419.685358
Kp = 0.02, Ki = 0.00, Kd = 0.02; error = 176170.126022
Kp = 0.03, Ki = 0.00, Kd = 0.02; error = 121561.171937
Kp = 0.04, Ki = 0.00, Kd = 0.02; error = 2257523.634603
Kp = 0.05, Ki = 0.00, Kd = 0.02; error = -127744710.734334
Kp = 0.00, Ki = 0.00, Kd = 0.03; error = -134393.602641
Kp = 0.01, Ki = 0.00, Kd = 0.03; error = 39472.023036
Kp = 0.02, Ki = 0.00, Kd = 0.03; error = 258576.407706
Kp = 0.03, Ki = 0.00, Kd = 0.03; error = 156267.163994
Kp = 0.04, Ki = 0.00, Kd = 0.03; error = 197961.635738
Kp = 0.05, Ki = 0.00, Kd = 0.03; error = 24313.735199
Kp = 0.00, Ki = 0.00, Kd = 0.04; error = -134393.602641
Kp = 0.01, Ki = 0.00, Kd = 0.04; error = -31814.430710
Kp = 0.02, Ki = 0.00, Kd = 0.04; error = 132406.768009
Kp = 0.03, Ki = 0.00, Kd = 0.04; error = 1456852.443363
Kp = 0.04, Ki = 0.00, Kd = 0.04; error = 78732.126308
Kp = 0.05, Ki = 0.00, Kd = 0.04; error = 37902.816464
Kp = 0.00, Ki = 0.00, Kd = 0.05; error = -134393.602641
Kp = 0.01, Ki = 0.00, Kd = 0.05; error = -13880.382744
Kp = 0.02, Ki = 0.00, Kd = 0.05; error = 146100.942446
Kp = 0.03, Ki = 0.00, Kd = 0.05; error = 610439.146943
Kp = 0.04, Ki = 0.00, Kd = 0.05; error = 1358938.745150
Kp = 0.05, Ki = 0.00, Kd = 0.05; error = 48844.470433