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tuning.log

tuning.log 36 KB
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  1. Kp = 0.00, Ki = 0.00, Kd = 0.00; error = 5752.488522
    2. 

  2. Kp = 0.00, Ki = 0.00, Kd = 0.10; error = 5690.517548
    3. 

  3. Kp = 0.00, Ki = 0.00, Kd = 0.20; error = 5690.517548
    4. 

  4. Kp = 0.00, Ki = 0.00, Kd = 0.30; error = 5690.517548
    5. 

  5. Kp = 0.00, Ki = 0.00, Kd = 0.40; error = 5690.517548
    6. 

  6. Kp = 0.00, Ki = 0.10, Kd = 0.00; error = 11096.933977
    7. 

  7. Kp = 0.00, Ki = 0.10, Kd = 0.10; error = 10818.611936
    8. 

  8. Kp = 0.00, Ki = 0.10, Kd = 0.20; error = 10818.611936
    9. 

  9. Kp = 0.00, Ki = 0.10, Kd = 0.30; error = 10818.611936
    10. 

  10. Kp = 0.00, Ki = 0.10, Kd = 0.40; error = 10818.611936
    11. 

  11. Kp = 0.00, Ki = 0.20, Kd = 0.00; error = 14924.656278
    12. 

  12. Kp = 0.00, Ki = 0.20, Kd = 0.10; error = 14693.334429
    13. 

  13. Kp = 0.00, Ki = 0.20, Kd = 0.20; error = 14693.334429
    14. 

  14. Kp = 0.00, Ki = 0.20, Kd = 0.30; error = 14693.334429
    15. 

  15. Kp = 0.00, Ki = 0.20, Kd = 0.40; error = 14693.334429
    16. 

  16. Kp = 0.00, Ki = 0.30, Kd = 0.00; error = 16755.111537
    17. 

  17. Kp = 0.00, Ki = 0.30, Kd = 0.10; error = 16577.671138
    18. 

  18. Kp = 0.00, Ki = 0.30, Kd = 0.20; error = 16577.671138
    19. 

  19. Kp = 0.00, Ki = 0.30, Kd = 0.30; error = 16577.671138
    20. 

  20. Kp = 0.00, Ki = 0.30, Kd = 0.40; error = 16577.671138
    21. 

  21. Kp = 0.00, Ki = 0.40, Kd = 0.00; error = 9901.728673
    22. 

  22. Kp = 0.00, Ki = 0.40, Kd = 0.10; error = 9901.728673
    23. 

  23. Kp = 0.00, Ki = 0.40, Kd = 0.20; error = 9901.728673
    24. 

  24. Kp = 0.00, Ki = 0.40, Kd = 0.30; error = 9901.728673
    25. 

  25. Kp = 0.00, Ki = 0.40, Kd = 0.40; error = 9901.728673
    26. 

  26. Kp = 0.10, Ki = 0.00, Kd = 0.00; error = 11248.647214
    27. 

  27. Kp = 0.10, Ki = 0.00, Kd = 0.10; error = 11248.647214
    28. 

  28. Kp = 0.10, Ki = 0.00, Kd = 0.20; error = 11248.647214
    29. 

  29. Kp = 0.10, Ki = 0.00, Kd = 0.30; error = 11248.647214
    30. 

  30. Kp = 0.10, Ki = 0.00, Kd = 0.40; error = 11248.647214
    31. 

  31. Kp = 0.10, Ki = 0.10, Kd = 0.00; error = 12349.175976
    32. 

  32. Kp = 0.10, Ki = 0.10, Kd = 0.10; error = 12349.175976
    33. 

  33. Kp = 0.10, Ki = 0.10, Kd = 0.20; error = 12349.175976
    34. 

  34. Kp = 0.10, Ki = 0.10, Kd = 0.30; error = 12349.175976
    35. 

  35. Kp = 0.10, Ki = 0.10, Kd = 0.40; error = 12349.175976
    36. 

  36. Kp = 0.10, Ki = 0.20, Kd = 0.00; error = 13344.856409
    37. 

  37. Kp = 0.10, Ki = 0.20, Kd = 0.10; error = 13324.870818
    38. 

  38. Kp = 0.10, Ki = 0.20, Kd = 0.20; error = 13324.870818
    39. 

  39. Kp = 0.10, Ki = 0.20, Kd = 0.30; error = 13324.870818
    40. 

  40. Kp = 0.10, Ki = 0.20, Kd = 0.40; error = 13324.870818
    41. 

  41. Kp = 0.10, Ki = 0.30, Kd = 0.00; error = 13965.692615
    42. 

  42. Kp = 0.10, Ki = 0.30, Kd = 0.10; error = 13965.692615
    43. 

  43. Kp = 0.10, Ki = 0.30, Kd = 0.20; error = 13965.692615
    44. 

  44. Kp = 0.10, Ki = 0.30, Kd = 0.30; error = 13965.692615
    45. 

  45. Kp = 0.10, Ki = 0.30, Kd = 0.40; error = 13965.692615
    46. 

  46. Kp = 0.10, Ki = 0.40, Kd = 0.00; error = 11079.149604
    47. 

  47. Kp = 0.10, Ki = 0.40, Kd = 0.10; error = 11079.149604
    48. 

  48. Kp = 0.10, Ki = 0.40, Kd = 0.20; error = 11079.149604
    49. 

  49. Kp = 0.10, Ki = 0.40, Kd = 0.30; error = 11079.149604
    50. 

  50. Kp = 0.10, Ki = 0.40, Kd = 0.40; error = 11079.149604
    51. 

  51. Kp = 0.20, Ki = 0.00, Kd = 0.00; error = 16127.117227
    52. 

  52. Kp = 0.20, Ki = 0.00, Kd = 0.10; error = 16127.117227
    53. 

  53. Kp = 0.20, Ki = 0.00, Kd = 0.20; error = 16127.117227
    54. 

  54. Kp = 0.20, Ki = 0.00, Kd = 0.30; error = 16127.117227
    55. 

  55. Kp = 0.20, Ki = 0.00, Kd = 0.40; error = 16127.117227
    56. 

  56. Kp = 0.20, Ki = 0.10, Kd = 0.00; error = 19279.668177
    57. 

  57. Kp = 0.20, Ki = 0.10, Kd = 0.10; error = 19279.668177
    58. 

  58. Kp = 0.20, Ki = 0.10, Kd = 0.20; error = 19279.668177
    59. 

  59. Kp = 0.20, Ki = 0.10, Kd = 0.30; error = 19279.668177
    60. 

  60. Kp = 0.20, Ki = 0.10, Kd = 0.40; error = 19279.668177
    61. 

  61. Kp = 0.20, Ki = 0.20, Kd = 0.00; error = 13336.439216
    62. 

  62. Kp = 0.20, Ki = 0.20, Kd = 0.10; error = 13336.439216
    63. 

  63. Kp = 0.20, Ki = 0.20, Kd = 0.20; error = 13336.439216
    64. 

  64. Kp = 0.20, Ki = 0.20, Kd = 0.30; error = 13336.439216
    65. 

  65. Kp = 0.20, Ki = 0.20, Kd = 0.40; error = 13336.439216
    66. 

  66. Kp = 0.20, Ki = 0.30, Kd = 0.00; error = 9454.242513
    67. 

  67. Kp = 0.20, Ki = 0.30, Kd = 0.10; error = 9454.242513
    68. 

  68. Kp = 0.20, Ki = 0.30, Kd = 0.20; error = 9454.242513
    69. 

  69. Kp = 0.20, Ki = 0.30, Kd = 0.30; error = 9454.242513
    70. 

  70. Kp = 0.20, Ki = 0.30, Kd = 0.40; error = 9454.242513
    71. 

  71. Kp = 0.20, Ki = 0.40, Kd = 0.00; error = 7222.101961
    72. 

  72. Kp = 0.20, Ki = 0.40, Kd = 0.10; error = 7222.101961
    73. 

  73. Kp = 0.20, Ki = 0.40, Kd = 0.20; error = 7222.101961
    74. 

  74. Kp = 0.20, Ki = 0.40, Kd = 0.30; error = 7222.101961
    75. 

  75. Kp = 0.20, Ki = 0.40, Kd = 0.40; error = 7222.101961
    76. 

  76. Kp = 0.30, Ki = 0.00, Kd = 0.00; error = 73474.090699
    77. 

  77. Kp = 0.30, Ki = 0.00, Kd = 0.10; error = 73474.090699
    78. 

  78. Kp = 0.30, Ki = 0.00, Kd = 0.20; error = 73474.090699
    79. 

  79. Kp = 0.30, Ki = 0.00, Kd = 0.30; error = 73474.090699
    80. 

  80. Kp = 0.30, Ki = 0.00, Kd = 0.40; error = 73474.090699
    81. 

  81. Kp = 0.30, Ki = 0.10, Kd = 0.00; error = 2407.279974
    82. 

  82. Kp = 0.30, Ki = 0.10, Kd = 0.10; error = 2407.279974
    83. 

  83. Kp = 0.30, Ki = 0.10, Kd = 0.20; error = 2407.279974
    84. 

  84. Kp = 0.30, Ki = 0.10, Kd = 0.30; error = 2407.279974
    85. 

  85. Kp = 0.30, Ki = 0.10, Kd = 0.40; error = 2407.279974
    86. 

  86. Kp = 0.30, Ki = 0.20, Kd = 0.00; error = 1127.822115
    87. 

  87. Kp = 0.30, Ki = 0.20, Kd = 0.10; error = 1127.822115
    88. 

  88. Kp = 0.30, Ki = 0.20, Kd = 0.20; error = 1127.822115
    89. 

  89. Kp = 0.30, Ki = 0.20, Kd = 0.30; error = 1127.822115
    90. 

  90. Kp = 0.30, Ki = 0.20, Kd = 0.40; error = 1127.822115
    91. 

  91. Kp = 0.30, Ki = 0.30, Kd = 0.00; error = 700.582997
    92. 

  92. Kp = 0.30, Ki = 0.30, Kd = 0.10; error = 700.582997
    93. 

  93. Kp = 0.30, Ki = 0.30, Kd = 0.20; error = 700.582997
    94. 

  94. Kp = 0.30, Ki = 0.30, Kd = 0.30; error = 700.582997
    95. 

  95. Kp = 0.30, Ki = 0.30, Kd = 0.40; error = 700.582997
    96. 

  96. Kp = 0.30, Ki = 0.40, Kd = 0.00; error = 484.706460
    97. 

  97. Kp = 0.30, Ki = 0.40, Kd = 0.10; error = 484.706460
    98. 

  98. Kp = 0.30, Ki = 0.40, Kd = 0.20; error = 484.706460
    99. 

  99. Kp = 0.30, Ki = 0.40, Kd = 0.30; error = 484.706460
    100. 

  100. Kp = 0.30, Ki = 0.40, Kd = 0.40; error = 484.706460
    101. 

  101. Kp = 0.00, Ki = 0.00, Kd = 0.00; error = 5752.488522
    102. 

  102. Kp = 0.00, Ki = 0.00, Kd = 0.01; error = 5690.517548
    103. 

  103. Kp = 0.00, Ki = 0.00, Kd = 0.02; error = 5690.517548
    104. 

  104. Kp = 0.00, Ki = 0.00, Kd = 0.03; error = 5690.517548
    105. 

  105. Kp = 0.00, Ki = 0.00, Kd = 0.04; error = 5690.517548
    106. 

  106. Kp = 0.00, Ki = 0.00, Kd = 0.05; error = 5690.517548
    107. 

  107. Kp = 0.00, Ki = 0.00, Kd = 0.06; error = 5690.517548
    108. 

  108. Kp = 0.00, Ki = 0.00, Kd = 0.07; error = 5690.517548
    109. 

  109. Kp = 0.00, Ki = 0.00, Kd = 0.08; error = 5690.517548
    110. 

  110. Kp = 0.00, Ki = 0.00, Kd = 0.09; error = 5690.517548
    111. 

  111. Kp = 0.00, Ki = 0.01, Kd = 0.00; error = 3045.937185
    112. 

  112. Kp = 0.00, Ki = 0.01, Kd = 0.01; error = 2878.428570
    113. 

  113. Kp = 0.00, Ki = 0.01, Kd = 0.02; error = 2878.428570
    114. 

  114. Kp = 0.00, Ki = 0.01, Kd = 0.03; error = 2878.428570
    115. 

  115. Kp = 0.00, Ki = 0.01, Kd = 0.04; error = 2878.428570
    116. 

  116. Kp = 0.00, Ki = 0.01, Kd = 0.05; error = 2878.428570
    117. 

  117. Kp = 0.00, Ki = 0.01, Kd = 0.06; error = 2878.428570
    118. 

  118. Kp = 0.00, Ki = 0.01, Kd = 0.07; error = 2878.428570
    119. 

  119. Kp = 0.00, Ki = 0.01, Kd = 0.08; error = 2878.428570
    120. 

  120. Kp = 0.00, Ki = 0.01, Kd = 0.09; error = 2878.428570
    121. 

  121. Kp = 0.00, Ki = 0.02, Kd = 0.00; error = 3938.405543
    122. 

  122. Kp = 0.00, Ki = 0.02, Kd = 0.01; error = 3756.813601
    123. 

  123. Kp = 0.00, Ki = 0.02, Kd = 0.02; error = 3756.813601
    124. 

  124. Kp = 0.00, Ki = 0.02, Kd = 0.00; error = 3938.405543
    125. 

  125. Kp = 0.00, Ki = 0.02, Kd = 0.01; error = 3756.813601
    126. 

  126. Kp = 0.00, Ki = 0.02, Kd = 0.02; error = 3756.813601
    127. 

  127. Kp = 0.00, Ki = 0.02, Kd = 0.03; error = 3756.813601
    128. 

  128. Kp = 0.00, Ki = 0.02, Kd = 0.04; error = 3756.813601
    129. 

  129. Kp = 0.00, Ki = 0.02, Kd = 0.05; error = 3756.813601
    130. 

  130. Kp = 0.00, Ki = 0.02, Kd = 0.06; error = 3756.813601
    131. 

  131. Kp = 0.00, Ki = 0.02, Kd = 0.07; error = 3756.813601
    132. 

  132. Kp = 0.00, Ki = 0.02, Kd = 0.08; error = 3756.813601
    133. 

  133. Kp = 0.00, Ki = 0.02, Kd = 0.09; error = 3756.813601
    134. 

  134. Kp = 0.00, Ki = 0.03, Kd = 0.00; error = 4703.008831
    135. 

  135. Kp = 0.00, Ki = 0.03, Kd = 0.00; error = 4703.008831
    136. 

  136. Kp = 0.00, Ki = 0.03, Kd = 0.01; error = 4452.602525
    137. 

  137. Kp = 0.00, Ki = 0.03, Kd = 0.02; error = 4452.602525
    138. 

  138. Kp = 0.00, Ki = 0.03, Kd = 0.03; error = 4452.602525
    139. 

  139. Kp = 0.00, Ki = 0.03, Kd = 0.04; error = 4452.602525
    140. 

  140. Kp = 0.00, Ki = 0.03, Kd = 0.05; error = 4452.602525
    141. 

  141. Kp = 0.00, Ki = 0.03, Kd = 0.06; error = 4452.602525
    142. 

  142. Kp = 0.00, Ki = 0.03, Kd = 0.07; error = 4452.602525
    143. 

  143. Kp = 0.00, Ki = 0.03, Kd = 0.08; error = 4452.602525
    144. 

  144. Kp = 0.00, Ki = 0.03, Kd = 0.09; error = 4452.602525
    145. 

  145. Kp = 0.00, Ki = 0.04, Kd = 0.00; error = 4896.924643
    146. 

  146. Kp = 0.00, Ki = 0.04, Kd = 0.01; error = 4630.060994
    147. 

  147. Kp = 0.00, Ki = 0.04, Kd = 0.02; error = 4630.060994
    148. 

  148. Kp = 0.00, Ki = 0.04, Kd = 0.03; error = 4630.060994
    149. 

  149. Kp = 0.00, Ki = 0.04, Kd = 0.04; error = 4630.060994
    150. 

  150. Kp = 0.00, Ki = 0.04, Kd = 0.05; error = 4630.060994
    151. 

  151. Kp = 0.00, Ki = 0.04, Kd = 0.06; error = 4630.060994
    152. 

  152. Kp = 0.00, Ki = 0.04, Kd = 0.07; error = 4630.060994
    153. 

  153. Kp = 0.00, Ki = 0.04, Kd = 0.08; error = 4630.060994
    154. 

  154. Kp = 0.00, Ki = 0.04, Kd = 0.09; error = 4630.060994
    155. 

  155. Kp = 0.00, Ki = 0.05, Kd = 0.00; error = 5900.544376
    156. 

  156. Kp = 0.00, Ki = 0.05, Kd = 0.01; error = 5616.637949
    157. 

  157. Kp = 0.00, Ki = 0.05, Kd = 0.02; error = 5616.637949
    158. 

  158. Kp = 0.00, Ki = 0.05, Kd = 0.03; error = 5616.637949
    159. 

  159. Kp = 0.00, Ki = 0.05, Kd = 0.04; error = 5616.637949
    160. 

  160. Kp = 0.00, Ki = 0.05, Kd = 0.05; error = 5616.637949
    161. 

  161. Kp = 0.00, Ki = 0.05, Kd = 0.06; error = 5616.637949
    162. 

  162. Kp = 0.00, Ki = 0.05, Kd = 0.07; error = 5616.637949
    163. 

  163. Kp = 0.00, Ki = 0.05, Kd = 0.08; error = 5616.637949
    164. 

  164. Kp = 0.00, Ki = 0.05, Kd = 0.09; error = 5616.637949
    165. 

  165. Kp = 0.01, Ki = 0.00, Kd = 0.00; error = 885.380657
    166. 

  166. Kp = 0.01, Ki = 0.00, Kd = 0.00; error = 885.380657
    167. 

  167. Kp = 0.01, Ki = 0.00, Kd = 0.01; error = 714.328226
    168. 

  168. Kp = 0.01, Ki = 0.00, Kd = 0.02; error = 714.328226
    169. 

  169. Kp = 0.01, Ki = 0.00, Kd = 0.03; error = 714.328226
    170. 

  170. Kp = 0.01, Ki = 0.00, Kd = 0.04; error = 714.328226
    171. 

  171. Kp = 0.01, Ki = 0.00, Kd = 0.05; error = 714.328226
    172. 

  172. Kp = 0.01, Ki = 0.00, Kd = 0.06; error = 714.328226
    173. 

  173. Kp = 0.01, Ki = 0.00, Kd = 0.07; error = 714.328226
    174. 

  174. Kp = 0.01, Ki = 0.00, Kd = 0.08; error = 714.328226
    175. 

  175. Kp = 0.01, Ki = 0.00, Kd = 0.09; error = 714.328226
    176. 

  176. Kp = 0.01, Ki = 0.01, Kd = 0.00; error = 5417.351266
    177. 

  177. Kp = 0.01, Ki = 0.01, Kd = 0.01; error = 5569.842556
    178. 

  178. Kp = 0.01, Ki = 0.01, Kd = 0.02; error = 5569.842556
    179. 

  179. Kp = 0.01, Ki = 0.01, Kd = 0.03; error = 5569.842556
    180. 

  180. Kp = 0.01, Ki = 0.01, Kd = 0.04; error = 5569.842556
    181. 

  181. Kp = 0.01, Ki = 0.01, Kd = 0.05; error = 5569.842556
    182. 

  182. Kp = 0.01, Ki = 0.01, Kd = 0.06; error = 5569.842556
    183. 

  183. Kp = 0.01, Ki = 0.01, Kd = 0.07; error = 5569.842556
    184. 

  184. Kp = 0.01, Ki = 0.01, Kd = 0.08; error = 5569.842556
    185. 

  185. Kp = 0.01, Ki = 0.01, Kd = 0.09; error = 5569.842556
    186. 

  186. Kp = 0.01, Ki = 0.02, Kd = 0.00; error = 3808.154490
    187. 

  187. Kp = 0.01, Ki = 0.02, Kd = 0.01; error = 3745.311205
    188. 

  188. Kp = 0.01, Ki = 0.02, Kd = 0.02; error = 3745.311205
    189. 

  189. Kp = 0.01, Ki = 0.02, Kd = 0.03; error = 3745.311205
    190. 

  190. Kp = 0.01, Ki = 0.02, Kd = 0.04; error = 3745.311205
    191. 

  191. Kp = 0.01, Ki = 0.02, Kd = 0.05; error = 3745.311205
    192. 

  192. Kp = 0.01, Ki = 0.02, Kd = 0.06; error = 3745.311205
    193. 

  193. Kp = 0.01, Ki = 0.02, Kd = 0.07; error = 3745.311205
    194. 

  194. Kp = 0.01, Ki = 0.02, Kd = 0.08; error = 3745.311205
    195. 

  195. Kp = 0.01, Ki = 0.02, Kd = 0.09; error = 3745.311205
    196. 

  196. Kp = 0.01, Ki = 0.03, Kd = 0.00; error = 5945.534954
    197. 

  197. Kp = 0.01, Ki = 0.03, Kd = 0.01; error = 6334.580497
    198. 

  198. Kp = 0.01, Ki = 0.03, Kd = 0.02; error = 6334.580497
    199. 

  199. Kp = 0.01, Ki = 0.03, Kd = 0.03; error = 6334.580497
    200. 

  200. Kp = 0.01, Ki = 0.03, Kd = 0.04; error = 6334.580497
    201. 

  201. Kp = 0.01, Ki = 0.03, Kd = 0.05; error = 6334.580497
    202. 

  202. Kp = 0.01, Ki = 0.03, Kd = 0.06; error = 6334.580497
    203. 

  203. Kp = 0.01, Ki = 0.03, Kd = 0.07; error = 6334.580497
    204. 

  204. Kp = 0.01, Ki = 0.03, Kd = 0.08; error = 6334.580497
    205. 

  205. Kp = 0.01, Ki = 0.03, Kd = 0.09; error = 6334.580497
    206. 

  206. Kp = 0.01, Ki = 0.04, Kd = 0.00; error = 6871.480415
    207. 

  207. Kp = 0.01, Ki = 0.04, Kd = 0.01; error = 6625.517416
    208. 

  208. Kp = 0.01, Ki = 0.04, Kd = 0.02; error = 6625.517416
    209. 

  209. Kp = 0.01, Ki = 0.04, Kd = 0.03; error = 6625.517416
    210. 

  210. Kp = 0.01, Ki = 0.04, Kd = 0.04; error = 6625.517416
    211. 

  211. Kp = 0.01, Ki = 0.04, Kd = 0.05; error = 6625.517416
    212. 

  212. Kp = 0.01, Ki = 0.04, Kd = 0.06; error = 6625.517416
    213. 

  213. Kp = 0.01, Ki = 0.04, Kd = 0.07; error = 6625.517416
    214. 

  214. Kp = 0.01, Ki = 0.04, Kd = 0.08; error = 6625.517416
    215. 

  215. Kp = 0.01, Ki = 0.04, Kd = 0.09; error = 6625.517416
    216. 

  216. Kp = 0.02, Ki = 0.00, Kd = 0.00; error = 365.271154
    217. 

  217. Kp = 0.02, Ki = 0.00, Kd = 0.01; error = 50.653681
    218. 

  218. Kp = 0.02, Ki = 0.00, Kd = 0.02; error = 50.653681
    219. 

  219. Kp = 0.02, Ki = 0.00, Kd = 0.03; error = 50.653681
    220. 

  220. Kp = 0.02, Ki = 0.00, Kd = 0.04; error = 50.653681
    221. 

  221. Kp = 0.02, Ki = 0.00, Kd = 0.05; error = 50.653681
    222. 

  222. Kp = 0.02, Ki = 0.00, Kd = 0.06; error = 50.653681
    223. 

  223. Kp = 0.02, Ki = 0.00, Kd = 0.07; error = 50.653681
    224. 

  224. Kp = 0.02, Ki = 0.00, Kd = 0.08; error = 50.653681
    225. 

  225. Kp = 0.02, Ki = 0.00, Kd = 0.09; error = 50.653681
    226. 

  226. Kp = 0.02, Ki = 0.01, Kd = 0.00; error = 6097.196880
    227. 

  227. Kp = 0.02, Ki = 0.01, Kd = 0.01; error = 5924.945632
    228. 

  228. Kp = 0.02, Ki = 0.01, Kd = 0.02; error = 5924.945632
    229. 

  229. Kp = 0.02, Ki = 0.01, Kd = 0.03; error = 5924.945632
    230. 

  230. Kp = 0.02, Ki = 0.01, Kd = 0.04; error = 5924.945632
    231. 

  231. Kp = 0.02, Ki = 0.01, Kd = 0.05; error = 5924.945632
    232. 

  232. Kp = 0.02, Ki = 0.01, Kd = 0.06; error = 5924.945632
    233. 

  233. Kp = 0.02, Ki = 0.01, Kd = 0.07; error = 5924.945632
    234. 

  234. Kp = 0.02, Ki = 0.01, Kd = 0.08; error = 5924.945632
    235. 

  235. Kp = 0.02, Ki = 0.01, Kd = 0.09; error = 5924.945632
    236. 

  236. Kp = 0.02, Ki = 0.02, Kd = 0.00; error = 5591.832341
    237. 

  237. Kp = 0.02, Ki = 0.02, Kd = 0.01; error = 5666.443770
    238. 

  238. Kp = 0.02, Ki = 0.02, Kd = 0.02; error = 5666.443770
    239. 

  239. Kp = 0.02, Ki = 0.02, Kd = 0.03; error = 5666.443770
    240. 

  240. Kp = 0.02, Ki = 0.02, Kd = 0.04; error = 5666.443770
    241. 

  241. Kp = 0.02, Ki = 0.02, Kd = 0.05; error = 5666.443770
    242. 

  242. Kp = 0.02, Ki = 0.02, Kd = 0.06; error = 5666.443770
    243. 

  243. Kp = 0.02, Ki = 0.02, Kd = 0.07; error = 5666.443770
    244. 

  244. Kp = 0.02, Ki = 0.02, Kd = 0.08; error = 5666.443770
    245. 

  245. Kp = 0.02, Ki = 0.02, Kd = 0.09; error = 5666.443770
    246. 

  246. Kp = 0.02, Ki = 0.03, Kd = 0.00; error = 5003.087706
    247. 

  247. Kp = 0.02, Ki = 0.03, Kd = 0.01; error = 4645.377111
    248. 

  248. Kp = 0.02, Ki = 0.03, Kd = 0.02; error = 4645.377111
    249. 

  249. Kp = 0.02, Ki = 0.03, Kd = 0.03; error = 4645.377111
    250. 

  250. Kp = 0.02, Ki = 0.03, Kd = 0.04; error = 4645.377111
    251. 

  251. Kp = 0.02, Ki = 0.03, Kd = 0.05; error = 4645.377111
    252. 

  252. Kp = 0.02, Ki = 0.03, Kd = 0.06; error = 4645.377111
    253. 

  253. Kp = 0.02, Ki = 0.03, Kd = 0.07; error = 4645.377111
    254. 

  254. Kp = 0.02, Ki = 0.03, Kd = 0.08; error = 4645.377111
    255. 

  255. Kp = 0.02, Ki = 0.03, Kd = 0.09; error = 4645.377111
    256. 

  256. Kp = 0.02, Ki = 0.04, Kd = 0.00; error = 4696.476282
    257. 

  257. Kp = 0.02, Ki = 0.04, Kd = 0.01; error = 5248.452199
    258. 

  258. Kp = 0.02, Ki = 0.04, Kd = 0.02; error = 5248.452199
    259. 

  259. Kp = 0.02, Ki = 0.04, Kd = 0.03; error = 5248.452199
    260. 

  260. Kp = 0.02, Ki = 0.04, Kd = 0.04; error = 5248.452199
    261. 

  261. Kp = 0.02, Ki = 0.04, Kd = 0.05; error = 5248.452199
    262. 

  262. Kp = 0.02, Ki = 0.04, Kd = 0.06; error = 5248.452199
    263. 

  263. Kp = 0.02, Ki = 0.04, Kd = 0.07; error = 5248.452199
    264. 

  264. Kp = 0.02, Ki = 0.04, Kd = 0.08; error = 5248.452199
    265. 

  265. Kp = 0.02, Ki = 0.04, Kd = 0.09; error = 5248.452199
    266. 

  266. Kp = 0.03, Ki = 0.00, Kd = 0.00; error = 387.024551
    267. 

  267. Kp = 0.03, Ki = 0.00, Kd = 0.01; error = 116.253869
    268. 

  268. Kp = 0.03, Ki = 0.00, Kd = 0.02; error = 116.253869
    269. 

  269. Kp = 0.03, Ki = 0.00, Kd = 0.03; error = 116.253869
    270. 

  270. Kp = 0.03, Ki = 0.00, Kd = 0.04; error = 116.253869
    271. 

  271. Kp = 0.03, Ki = 0.00, Kd = 0.05; error = 116.253869
    272. 

  272. Kp = 0.03, Ki = 0.00, Kd = 0.06; error = 116.253869
    273. 

  273. Kp = 0.03, Ki = 0.00, Kd = 0.07; error = 116.253869
    274. 

  274. Kp = 0.03, Ki = 0.00, Kd = 0.08; error = 116.253869
    275. 

  275. Kp = 0.03, Ki = 0.00, Kd = 0.09; error = 116.253869
    276. 

  276. Kp = 0.03, Ki = 0.01, Kd = 0.00; error = 5364.200038
    277. 

  277. Kp = 0.03, Ki = 0.01, Kd = 0.01; error = 2300.486727
    278. 

  278. Kp = 0.03, Ki = 0.01, Kd = 0.02; error = 2300.486727
    279. 

  279. Kp = 0.03, Ki = 0.01, Kd = 0.03; error = 2300.486727
    280. 

  280. Kp = 0.03, Ki = 0.01, Kd = 0.04; error = 2300.486727
    281. 

  281. Kp = 0.03, Ki = 0.01, Kd = 0.05; error = 2300.486727
    282. 

  282. Kp = 0.03, Ki = 0.01, Kd = 0.06; error = 2300.486727
    283. 

  283. Kp = 0.03, Ki = 0.01, Kd = 0.07; error = 2300.486727
    284. 

  284. Kp = 0.03, Ki = 0.01, Kd = 0.08; error = 2300.486727
    285. 

  285. Kp = 0.03, Ki = 0.01, Kd = 0.09; error = 2300.486727
    286. 

  286. Kp = 0.03, Ki = 0.02, Kd = 0.00; error = 6236.424861
    287. 

  287. Kp = 0.03, Ki = 0.02, Kd = 0.01; error = 6132.678034
    288. 

  288. Kp = 0.03, Ki = 0.02, Kd = 0.02; error = 6132.678034
    289. 

  289. Kp = 0.03, Ki = 0.02, Kd = 0.03; error = 6132.678034
    290. 

  290. Kp = 0.03, Ki = 0.02, Kd = 0.04; error = 6132.678034
    291. 

  291. Kp = 0.03, Ki = 0.02, Kd = 0.05; error = 6132.678034
    292. 

  292. Kp = 0.03, Ki = 0.02, Kd = 0.06; error = 6132.678034
    293. 

  293. Kp = 0.03, Ki = 0.02, Kd = 0.07; error = 6132.678034
    294. 

  294. Kp = 0.03, Ki = 0.02, Kd = 0.08; error = 6132.678034
    295. 

  295. Kp = 0.03, Ki = 0.02, Kd = 0.09; error = 6132.678034
    296. 

  296. Kp = 0.03, Ki = 0.03, Kd = 0.00; error = 6726.577398
    297. 

  297. Kp = 0.03, Ki = 0.03, Kd = 0.01; error = 6691.365209
    298. 

  298. Kp = 0.03, Ki = 0.03, Kd = 0.02; error = 6691.365209
    299. 

  299. Kp = 0.03, Ki = 0.03, Kd = 0.03; error = 6691.365209
    300. 

  300. Kp = 0.03, Ki = 0.03, Kd = 0.04; error = 6691.365209
    301. 

  301. Kp = 0.03, Ki = 0.03, Kd = 0.05; error = 6691.365209
    302. 

  302. Kp = 0.03, Ki = 0.03, Kd = 0.06; error = 6691.365209
    303. 

  303. Kp = 0.03, Ki = 0.03, Kd = 0.07; error = 6691.365209
    304. 

  304. Kp = 0.03, Ki = 0.03, Kd = 0.08; error = 6691.365209
    305. 

  305. Kp = 0.03, Ki = 0.03, Kd = 0.09; error = 6691.365209
    306. 

  306. Kp = 0.03, Ki = 0.04, Kd = 0.00; error = 7166.544359
    307. 

  307. Kp = 0.03, Ki = 0.04, Kd = 0.01; error = 7248.127372
    308. 

  308. Kp = 0.03, Ki = 0.04, Kd = 0.02; error = 7248.127372
    309. 

  309. Kp = 0.03, Ki = 0.04, Kd = 0.03; error = 7248.127372
    310. 

  310. Kp = 0.03, Ki = 0.04, Kd = 0.04; error = 7248.127372
    311. 

  311. Kp = 0.03, Ki = 0.04, Kd = 0.05; error = 7248.127372
    312. 

  312. Kp = 0.03, Ki = 0.04, Kd = 0.06; error = 7248.127372
    313. 

  313. Kp = 0.03, Ki = 0.04, Kd = 0.07; error = 7248.127372
    314. 

  314. Kp = 0.03, Ki = 0.04, Kd = 0.08; error = 7248.127372
    315. 

  315. Kp = 0.03, Ki = 0.04, Kd = 0.09; error = 7248.127372
    316. 

  316. Kp = 0.04, Ki = 0.00, Kd = 0.00; error = 513.497188
    317. 

  317. Kp = 0.04, Ki = 0.00, Kd = 0.01; error = 254.251883
    318. 

  318. Kp = 0.04, Ki = 0.00, Kd = 0.02; error = 254.251883
    319. 

  319. Kp = 0.04, Ki = 0.00, Kd = 0.03; error = 254.251883
    320. 

  320. Kp = 0.04, Ki = 0.00, Kd = 0.04; error = 254.251883
    321. 

  321. Kp = 0.04, Ki = 0.00, Kd = 0.05; error = 254.251883
    322. 

  322. Kp = 0.04, Ki = 0.00, Kd = 0.06; error = 254.251883
    323. 

  323. Kp = 0.04, Ki = 0.00, Kd = 0.07; error = 254.251883
    324. 

  324. Kp = 0.04, Ki = 0.00, Kd = 0.08; error = 254.251883
    325. 

  325. Kp = 0.04, Ki = 0.00, Kd = 0.09; error = 254.251883
    326. 

  326. Kp = 0.04, Ki = 0.01, Kd = 0.00; error = 2590.275272
    327. 

  327. Kp = 0.04, Ki = 0.01, Kd = 0.01; error = 2662.114304
    328. 

  328. Kp = 0.04, Ki = 0.01, Kd = 0.02; error = 2662.114304
    329. 

  329. Kp = 0.04, Ki = 0.01, Kd = 0.03; error = 2662.114304
    330. 

  330. Kp = 0.04, Ki = 0.01, Kd = 0.04; error = 2662.114304
    331. 

  331. Kp = 0.04, Ki = 0.01, Kd = 0.05; error = 2662.114304
    332. 

  332. Kp = 0.04, Ki = 0.01, Kd = 0.06; error = 2662.114304
    333. 

  333. Kp = 0.04, Ki = 0.01, Kd = 0.07; error = 2662.114304
    334. 

  334. Kp = 0.04, Ki = 0.01, Kd = 0.08; error = 2662.114304
    335. 

  335. Kp = 0.04, Ki = 0.01, Kd = 0.09; error = 2662.114304
    336. 

  336. Kp = 0.04, Ki = 0.02, Kd = 0.00; error = 6163.340753
    337. 

  337. Kp = 0.04, Ki = 0.02, Kd = 0.01; error = 5863.628785
    338. 

  338. Kp = 0.04, Ki = 0.02, Kd = 0.02; error = 5863.628785
    339. 

  339. Kp = 0.04, Ki = 0.02, Kd = 0.03; error = 5863.628785
    340. 

  340. Kp = 0.04, Ki = 0.02, Kd = 0.04; error = 5863.628785
    341. 

  341. Kp = 0.04, Ki = 0.02, Kd = 0.05; error = 5863.628785
    342. 

  342. Kp = 0.04, Ki = 0.02, Kd = 0.06; error = 5863.628785
    343. 

  343. Kp = 0.04, Ki = 0.02, Kd = 0.07; error = 5863.628785
    344. 

  344. Kp = 0.04, Ki = 0.02, Kd = 0.08; error = 5863.628785
    345. 

  345. Kp = 0.04, Ki = 0.02, Kd = 0.09; error = 5863.628785
    346. 

  346. Kp = 0.04, Ki = 0.03, Kd = 0.00; error = 7560.534810
    347. 

  347. Kp = 0.04, Ki = 0.03, Kd = 0.01; error = 7423.904525
    348. 

  348. Kp = 0.04, Ki = 0.03, Kd = 0.02; error = 7423.904525
    349. 

  349. Kp = 0.04, Ki = 0.03, Kd = 0.03; error = 7423.904525
    350. 

  350. Kp = 0.04, Ki = 0.03, Kd = 0.04; error = 7423.904525
    351. 

  351. Kp = 0.04, Ki = 0.03, Kd = 0.05; error = 7423.904525
    352. 

  352. Kp = 0.04, Ki = 0.03, Kd = 0.06; error = 7423.904525
    353. 

  353. Kp = 0.04, Ki = 0.03, Kd = 0.07; error = 7423.904525
    354. 

  354. Kp = 0.04, Ki = 0.03, Kd = 0.08; error = 7423.904525
    355. 

  355. Kp = 0.04, Ki = 0.03, Kd = 0.09; error = 7423.904525
    356. 

  356. Kp = 0.04, Ki = 0.04, Kd = 0.00; error = 7814.466187
    357. 

  357. Kp = 0.04, Ki = 0.04, Kd = 0.01; error = 7699.277132
    358. 

  358. Kp = 0.04, Ki = 0.04, Kd = 0.02; error = 7699.277132
    359. 

  359. Kp = 0.04, Ki = 0.04, Kd = 0.03; error = 7699.277132
    360. 

  360. Kp = 0.04, Ki = 0.04, Kd = 0.04; error = 7699.277132
    361. 

  361. Kp = 0.04, Ki = 0.04, Kd = 0.05; error = 7699.277132
    362. 

  362. Kp = 0.04, Ki = 0.04, Kd = 0.06; error = 7699.277132
    363. 

  363. Kp = 0.04, Ki = 0.04, Kd = 0.07; error = 7699.277132
    364. 

  364. Kp = 0.04, Ki = 0.04, Kd = 0.08; error = 7699.277132
    365. 

  365. Kp = 0.04, Ki = 0.04, Kd = 0.09; error = 7699.277132
    366. 

  366. Kp = 0.05, Ki = 0.00, Kd = 0.00; error = 240.464931
    367. 

  367. Kp = 0.05, Ki = 0.00, Kd = 0.01; error = 52.499703
    368. 

  368. Kp = 0.05, Ki = 0.00, Kd = 0.02; error = 52.499703
    369. 

  369. Kp = 0.05, Ki = 0.00, Kd = 0.03; error = 52.499703
    370. 

  370. Kp = 0.05, Ki = 0.00, Kd = 0.04; error = 52.499703
    371. 

  371. Kp = 0.05, Ki = 0.00, Kd = 0.05; error = 52.499703
    372. 

  372. Kp = 0.05, Ki = 0.00, Kd = 0.06; error = 52.499703
    373. 

  373. Kp = 0.05, Ki = 0.00, Kd = 0.07; error = 52.499703
    374. 

  374. Kp = 0.05, Ki = 0.00, Kd = 0.08; error = 52.499703
    375. 

  375. Kp = 0.05, Ki = 0.00, Kd = 0.09; error = 52.499703
    376. 

  376. Kp = 0.05, Ki = 0.01, Kd = 0.00; error = 2774.228480
    377. 

  377. Kp = 0.05, Ki = 0.01, Kd = 0.01; error = 2813.609379
    378. 

  378. Kp = 0.05, Ki = 0.01, Kd = 0.02; error = 2813.609379
    379. 

  379. Kp = 0.05, Ki = 0.01, Kd = 0.03; error = 2813.609379
    380. 

  380. Kp = 0.05, Ki = 0.01, Kd = 0.04; error = 2813.609379
    381. 

  381. Kp = 0.05, Ki = 0.01, Kd = 0.05; error = 2813.609379
    382. 

  382. Kp = 0.05, Ki = 0.01, Kd = 0.06; error = 2813.609379
    383. 

  383. Kp = 0.05, Ki = 0.01, Kd = 0.07; error = 2813.609379
    384. 

  384. Kp = 0.05, Ki = 0.01, Kd = 0.08; error = 2813.609379
    385. 

  385. Kp = 0.05, Ki = 0.01, Kd = 0.09; error = 2813.609379
    386. 

  386. Kp = 0.05, Ki = 0.02, Kd = 0.00; error = 6378.931657
    387. 

  387. Kp = 0.05, Ki = 0.02, Kd = 0.01; error = 5930.825822
    388. 

  388. Kp = 0.05, Ki = 0.02, Kd = 0.02; error = 5930.825822
    389. 

  389. Kp = 0.05, Ki = 0.02, Kd = 0.03; error = 5930.825822
    390. 

  390. Kp = 0.05, Ki = 0.02, Kd = 0.04; error = 5930.825822
    391. 

  391. Kp = 0.05, Ki = 0.02, Kd = 0.05; error = 5930.825822
    392. 

  392. Kp = 0.05, Ki = 0.02, Kd = 0.06; error = 5930.825822
    393. 

  393. Kp = 0.05, Ki = 0.02, Kd = 0.07; error = 5930.825822
    394. 

  394. Kp = 0.05, Ki = 0.02, Kd = 0.08; error = 5930.825822
    395. 

  395. Kp = 0.05, Ki = 0.02, Kd = 0.09; error = 5930.825822
    396. 

  396. Kp = 0.05, Ki = 0.03, Kd = 0.00; error = 7506.564007
    397. 

  397. Kp = 0.05, Ki = 0.03, Kd = 0.01; error = 7333.469748
    398. 

  398. Kp = 0.05, Ki = 0.03, Kd = 0.02; error = 7333.469748
    399. 

  399. Kp = 0.05, Ki = 0.03, Kd = 0.03; error = 7333.469748
    400. 

  400. Kp = 0.05, Ki = 0.03, Kd = 0.04; error = 7333.469748
    401. 

  401. Kp = 0.05, Ki = 0.03, Kd = 0.05; error = 7333.469748
    402. 

  402. Kp = 0.05, Ki = 0.03, Kd = 0.06; error = 7333.469748
    403. 

  403. Kp = 0.05, Ki = 0.03, Kd = 0.07; error = 7333.469748
    404. 

  404. Kp = 0.05, Ki = 0.03, Kd = 0.08; error = 7333.469748
    405. 

  405. Kp = 0.05, Ki = 0.03, Kd = 0.09; error = 7333.469748
    406. 

  406. Kp = 0.05, Ki = 0.04, Kd = 0.00; error = 8646.675054
    407. 

  407. Kp = 0.05, Ki = 0.04, Kd = 0.01; error = 8053.916131
    408. 

  408. Kp = 0.05, Ki = 0.04, Kd = 0.02; error = 8053.916131
    409. 

  409. Kp = 0.05, Ki = 0.04, Kd = 0.03; error = 8053.916131
    410. 

  410. Kp = 0.05, Ki = 0.04, Kd = 0.04; error = 8053.916131
    411. 

  411. Kp = 0.05, Ki = 0.04, Kd = 0.05; error = 8053.916131
    412. 

  412. Kp = 0.05, Ki = 0.04, Kd = 0.06; error = 8053.916131
    413. 

  413. Kp = 0.05, Ki = 0.04, Kd = 0.07; error = 8053.916131
    414. 

  414. Kp = 0.05, Ki = 0.04, Kd = 0.08; error = 8053.916131
    415. 

  415. Kp = 0.05, Ki = 0.04, Kd = 0.09; error = 8053.916131
    416. 

  416. Kp = 0.06, Ki = 0.00, Kd = 0.00; error = 194.833359
    417. 

  417. Kp = 0.06, Ki = 0.00, Kd = 0.01; error = 58.345273
    418. 

  418. Kp = 0.06, Ki = 0.00, Kd = 0.02; error = 58.345273
    419. 

  419. Kp = 0.06, Ki = 0.00, Kd = 0.03; error = 58.345273
    420. 

  420. Kp = 0.06, Ki = 0.00, Kd = 0.04; error = 58.345273
    421. 

  421. Kp = 0.06, Ki = 0.00, Kd = 0.05; error = 58.345273
    422. 

  422. Kp = 0.06, Ki = 0.00, Kd = 0.06; error = 58.345273
    423. 

  423. Kp = 0.06, Ki = 0.00, Kd = 0.07; error = 58.345273
    424. 

  424. Kp = 0.06, Ki = 0.00, Kd = 0.08; error = 58.345273
    425. 

  425. Kp = 0.06, Ki = 0.00, Kd = 0.09; error = 58.345273
    426. 

  426. Kp = 0.06, Ki = 0.01, Kd = 0.00; error = 2645.811383
    427. 

  427. Kp = 0.06, Ki = 0.01, Kd = 0.01; error = 2685.864168
    428. 

  428. Kp = 0.06, Ki = 0.01, Kd = 0.02; error = 2685.864168
    429. 

  429. Kp = 0.06, Ki = 0.01, Kd = 0.03; error = 2685.864168
    430. 

  430. Kp = 0.06, Ki = 0.01, Kd = 0.04; error = 2685.864168
    431. 

  431. Kp = 0.06, Ki = 0.01, Kd = 0.05; error = 2685.864168
    432. 

  432. Kp = 0.06, Ki = 0.01, Kd = 0.06; error = 2685.864168
    433. 

  433. Kp = 0.06, Ki = 0.01, Kd = 0.07; error = 2685.864168
    434. 

  434. Kp = 0.06, Ki = 0.01, Kd = 0.08; error = 2685.864168
    435. 

  435. Kp = 0.06, Ki = 0.01, Kd = 0.09; error = 2685.864168
    436. 

  436. Kp = 0.06, Ki = 0.02, Kd = 0.00; error = 7125.559087
    437. 

  437. Kp = 0.06, Ki = 0.02, Kd = 0.01; error = 6679.126063
    438. 

  438. Kp = 0.06, Ki = 0.02, Kd = 0.02; error = 6679.126063
    439. 

  439. Kp = 0.06, Ki = 0.02, Kd = 0.03; error = 6679.126063
    440. 

  440. Kp = 0.06, Ki = 0.02, Kd = 0.04; error = 6679.126063
    441. 

  441. Kp = 0.06, Ki = 0.02, Kd = 0.05; error = 6679.126063
    442. 

  442. Kp = 0.06, Ki = 0.02, Kd = 0.06; error = 6679.126063
    443. 

  443. Kp = 0.06, Ki = 0.02, Kd = 0.07; error = 6679.126063
    444. 

  444. Kp = 0.06, Ki = 0.02, Kd = 0.08; error = 6679.126063
    445. 

  445. Kp = 0.06, Ki = 0.02, Kd = 0.09; error = 6679.126063
    446. 

  446. Kp = 0.06, Ki = 0.03, Kd = 0.00; error = 7221.085353
    447. 

  447. Kp = 0.06, Ki = 0.03, Kd = 0.01; error = 14295.128061
    448. 

  448. Kp = 0.06, Ki = 0.03, Kd = 0.02; error = 14295.128061
    449. 

  449. Kp = 0.06, Ki = 0.03, Kd = 0.03; error = 14295.128061
    450. 

  450. Kp = 0.06, Ki = 0.03, Kd = 0.04; error = 14295.128061
    451. 

  451. Kp = 0.06, Ki = 0.03, Kd = 0.05; error = 14295.128061
    452. 

  452. Kp = 0.06, Ki = 0.03, Kd = 0.06; error = 14295.128061
    453. 

  453. Kp = 0.06, Ki = 0.03, Kd = 0.07; error = 14295.128061
    454. 

  454. Kp = 0.06, Ki = 0.03, Kd = 0.08; error = 14295.128061
    455. 

  455. Kp = 0.06, Ki = 0.03, Kd = 0.09; error = 14295.128061
    456. 

  456. Kp = 0.06, Ki = 0.04, Kd = 0.00; error = 8299.342483
    457. 

  457. Kp = 0.06, Ki = 0.04, Kd = 0.01; error = 8227.112272
    458. 

  458. Kp = 0.06, Ki = 0.04, Kd = 0.02; error = 8227.112272
    459. 

  459. Kp = 0.06, Ki = 0.04, Kd = 0.03; error = 8227.112272
    460. 

  460. Kp = 0.06, Ki = 0.04, Kd = 0.04; error = 8227.112272
    461. 

  461. Kp = 0.06, Ki = 0.04, Kd = 0.05; error = 8227.112272
    462. 

  462. Kp = 0.06, Ki = 0.04, Kd = 0.06; error = 8227.112272
    463. 

  463. Kp = 0.06, Ki = 0.04, Kd = 0.07; error = 8227.112272
    464. 

  464. Kp = 0.06, Ki = 0.04, Kd = 0.08; error = 8227.112272
    465. 

  465. Kp = 0.06, Ki = 0.04, Kd = 0.09; error = 8227.112272
    466. 

  466. Kp = 0.07, Ki = 0.00, Kd = 0.00; error = 412.645096
    467. 

  467. Kp = 0.07, Ki = 0.00, Kd = 0.01; error = 151.058713
    468. 

  468. Kp = 0.07, Ki = 0.00, Kd = 0.02; error = 151.058713
    469. 

  469. Kp = 0.07, Ki = 0.00, Kd = 0.03; error = 151.058713
    470. 

  470. Kp = 0.07, Ki = 0.00, Kd = 0.04; error = 151.058713
    471. 

  471. Kp = 0.07, Ki = 0.00, Kd = 0.05; error = 151.058713
    472. 

  472. Kp = 0.07, Ki = 0.00, Kd = 0.06; error = 151.058713
    473. 

  473. Kp = 0.07, Ki = 0.00, Kd = 0.07; error = 151.058713
    474. 

  474. Kp = 0.07, Ki = 0.00, Kd = 0.08; error = 151.058713
    475. 

  475. Kp = 0.07, Ki = 0.00, Kd = 0.09; error = 151.058713
    476. 

  476. Kp = 0.07, Ki = 0.01, Kd = 0.00; error = 6941.211423
    477. 

  477. Kp = 0.07, Ki = 0.01, Kd = 0.01; error = 6465.586081
    478. 

  478. Kp = 0.07, Ki = 0.01, Kd = 0.02; error = 6465.586081
    479. 

  479. Kp = 0.07, Ki = 0.01, Kd = 0.03; error = 6465.586081
    480. 

  480. Kp = 0.07, Ki = 0.01, Kd = 0.04; error = 6465.586081
    481. 

  481. Kp = 0.07, Ki = 0.01, Kd = 0.05; error = 6465.586081
    482. 

  482. Kp = 0.07, Ki = 0.01, Kd = 0.06; error = 6465.586081
    483. 

  483. Kp = 0.07, Ki = 0.01, Kd = 0.07; error = 6465.586081
    484. 

  484. Kp = 0.07, Ki = 0.01, Kd = 0.08; error = 6465.586081
    485. 

  485. Kp = 0.07, Ki = 0.01, Kd = 0.09; error = 6465.586081
    486. 

  486. Kp = 0.07, Ki = 0.02, Kd = 0.00; error = 9261.781286
    487. 

  487. Kp = 0.07, Ki = 0.02, Kd = 0.01; error = 9233.584908
    488. 

  488. Kp = 0.07, Ki = 0.02, Kd = 0.02; error = 9233.584908
    489. 

  489. Kp = 0.07, Ki = 0.02, Kd = 0.03; error = 9233.584908
    490. 

  490. Kp = 0.07, Ki = 0.02, Kd = 0.04; error = 9233.584908
    491. 

  491. Kp = 0.07, Ki = 0.02, Kd = 0.05; error = 9233.584908
    492. 

  492. Kp = 0.07, Ki = 0.02, Kd = 0.06; error = 9233.584908
    493. 

  493. Kp = 0.07, Ki = 0.02, Kd = 0.07; error = 9233.584908
    494. 

  494. Kp = 0.07, Ki = 0.02, Kd = 0.08; error = 9233.584908
    495. 

  495. Kp = 0.07, Ki = 0.02, Kd = 0.09; error = 9233.584908
    496. 

  496. Kp = 0.07, Ki = 0.03, Kd = 0.00; error = 9852.287133
    497. 

  497. Kp = 0.07, Ki = 0.03, Kd = 0.01; error = 9819.628159
    498. 

  498. Kp = 0.07, Ki = 0.03, Kd = 0.02; error = 9819.628159
    499. 

  499. Kp = 0.07, Ki = 0.03, Kd = 0.03; error = 9819.628159
    500. 

  500. Kp = 0.07, Ki = 0.03, Kd = 0.04; error = 9819.628159
    501. 

  501. Kp = 0.07, Ki = 0.03, Kd = 0.05; error = 9819.628159
    502. 

  502. Kp = 0.07, Ki = 0.03, Kd = 0.06; error = 9819.628159
    503. 

  503. Kp = 0.07, Ki = 0.03, Kd = 0.07; error = 9819.628159
    504. 

  504. Kp = 0.07, Ki = 0.03, Kd = 0.08; error = 9819.628159
    505. 

  505. Kp = 0.07, Ki = 0.03, Kd = 0.09; error = 9819.628159
    506. 

  506. Kp = 0.07, Ki = 0.04, Kd = 0.00; error = 10181.546661
    507. 

  507. Kp = 0.07, Ki = 0.04, Kd = 0.01; error = 10143.975739
    508. 

  508. Kp = 0.07, Ki = 0.04, Kd = 0.02; error = 10143.975739
    509. 

  509. Kp = 0.07, Ki = 0.04, Kd = 0.03; error = 10143.975739
    510. 

  510. Kp = 0.07, Ki = 0.04, Kd = 0.04; error = 10143.975739
    511. 

  511. Kp = 0.07, Ki = 0.04, Kd = 0.05; error = 10143.975739
    512. 

  512. Kp = 0.07, Ki = 0.04, Kd = 0.06; error = 10143.975739
    513. 

  513. Kp = 0.07, Ki = 0.04, Kd = 0.07; error = 10143.975739
    514. 

  514. Kp = 0.07, Ki = 0.04, Kd = 0.08; error = 10143.975739
    515. 

  515. Kp = 0.07, Ki = 0.04, Kd = 0.09; error = 10143.975739
    516. 

  516. Kp = 0.08, Ki = 0.00, Kd = 0.00; error = 10100.907378
    517. 

  517. Kp = 0.08, Ki = 0.00, Kd = 0.01; error = 10100.907378
    518. 

  518. Kp = 0.08, Ki = 0.00, Kd = 0.02; error = 10100.907378
    519. 

  519. Kp = 0.08, Ki = 0.00, Kd = 0.03; error = 10100.907378
    520. 

  520. Kp = 0.08, Ki = 0.00, Kd = 0.04; error = 10100.907378
    521. 

  521. Kp = 0.08, Ki = 0.00, Kd = 0.05; error = 10100.907378
    522. 

  522. Kp = 0.08, Ki = 0.00, Kd = 0.06; error = 10100.907378
    523. 

  523. Kp = 0.08, Ki = 0.00, Kd = 0.07; error = 10100.907378
    524. 

  524. Kp = 0.08, Ki = 0.00, Kd = 0.08; error = 10100.907378
    525. 

  525. Kp = 0.08, Ki = 0.00, Kd = 0.09; error = 10100.907378
    526. 

  526. Kp = 0.08, Ki = 0.01, Kd = 0.00; error = 10204.958242
    527. 

  527. Kp = 0.08, Ki = 0.01, Kd = 0.01; error = 10204.958242
    528. 

  528. Kp = 0.08, Ki = 0.01, Kd = 0.02; error = 10204.958242
    529. 

  529. Kp = 0.08, Ki = 0.01, Kd = 0.03; error = 10204.958242
    530. 

  530. Kp = 0.08, Ki = 0.01, Kd = 0.04; error = 10204.958242
    531. 

  531. Kp = 0.08, Ki = 0.01, Kd = 0.05; error = 10204.958242
    532. 

  532. Kp = 0.08, Ki = 0.01, Kd = 0.06; error = 10204.958242
    533. 

  533. Kp = 0.08, Ki = 0.01, Kd = 0.07; error = 10204.958242
    534. 

  534. Kp = 0.08, Ki = 0.01, Kd = 0.08; error = 10204.958242
    535. 

  535. Kp = 0.08, Ki = 0.01, Kd = 0.09; error = 10204.958242
    536. 

  536. Kp = 0.08, Ki = 0.02, Kd = 0.00; error = 10369.707269
    537. 

  537. Kp = 0.08, Ki = 0.02, Kd = 0.01; error = 10369.126883
    538. 

  538. Kp = 0.08, Ki = 0.02, Kd = 0.02; error = 10369.126883
    539. 

  539. Kp = 0.08, Ki = 0.02, Kd = 0.03; error = 10369.126883
    540. 

  540. Kp = 0.08, Ki = 0.02, Kd = 0.04; error = 10369.126883
    541. 

  541. Kp = 0.08, Ki = 0.02, Kd = 0.05; error = 10369.126883
    542. 

  542. Kp = 0.08, Ki = 0.02, Kd = 0.06; error = 10369.126883
    543. 

  543. Kp = 0.08, Ki = 0.02, Kd = 0.07; error = 10369.126883
    544. 

  544. Kp = 0.08, Ki = 0.02, Kd = 0.08; error = 10369.126883
    545. 

  545. Kp = 0.08, Ki = 0.02, Kd = 0.09; error = 10369.126883
    546. 

  546. Kp = 0.08, Ki = 0.03, Kd = 0.00; error = 10552.995925
    547. 

  547. Kp = 0.08, Ki = 0.03, Kd = 0.01; error = 10547.888623
    548. 

  548. Kp = 0.08, Ki = 0.03, Kd = 0.02; error = 10547.888623
    549. 

  549. Kp = 0.08, Ki = 0.03, Kd = 0.03; error = 10547.888623
    550. 

  550. Kp = 0.08, Ki = 0.03, Kd = 0.04; error = 10547.888623
    551. 

  551. Kp = 0.08, Ki = 0.03, Kd = 0.05; error = 10547.888623
    552. 

  552. Kp = 0.08, Ki = 0.03, Kd = 0.06; error = 10547.888623
    553. 

  553. Kp = 0.08, Ki = 0.03, Kd = 0.07; error = 10547.888623
    554. 

  554. Kp = 0.08, Ki = 0.03, Kd = 0.08; error = 10547.888623
    555. 

  555. Kp = 0.08, Ki = 0.03, Kd = 0.09; error = 10547.888623
    556. 

  556. Kp = 0.08, Ki = 0.04, Kd = 0.00; error = 10660.094094
    557. 

  557. Kp = 0.08, Ki = 0.04, Kd = 0.01; error = 10650.358903
    558. 

  558. Kp = 0.08, Ki = 0.04, Kd = 0.02; error = 10650.358903
    559. 

  559. Kp = 0.08, Ki = 0.04, Kd = 0.03; error = 10650.358903
    560. 

  560. Kp = 0.08, Ki = 0.04, Kd = 0.04; error = 10650.358903
    561. 

  561. Kp = 0.08, Ki = 0.04, Kd = 0.05; error = 10650.358903
    562. 

  562. Kp = 0.08, Ki = 0.04, Kd = 0.06; error = 10650.358903
    563. 

  563. Kp = 0.08, Ki = 0.04, Kd = 0.07; error = 10650.358903
    564. 

  564. Kp = 0.08, Ki = 0.04, Kd = 0.08; error = 10650.358903
    565. 

  565. Kp = 0.08, Ki = 0.04, Kd = 0.09; error = 10650.358903
    566. 

  566. Kp = 0.09, Ki = 0.00, Kd = 0.00; error = 10697.808384
    567. 

  567. Kp = 0.09, Ki = 0.00, Kd = 0.01; error = 10697.808384
    568. 

  568. Kp = 0.09, Ki = 0.00, Kd = 0.02; error = 10697.808384
    569. 

  569. Kp = 0.09, Ki = 0.00, Kd = 0.03; error = 10697.808384
    570. 

  570. Kp = 0.09, Ki = 0.00, Kd = 0.04; error = 10697.808384
    571. 

  571. Kp = 0.09, Ki = 0.00, Kd = 0.05; error = 10697.808384
    572. 

  572. Kp = 0.09, Ki = 0.00, Kd = 0.06; error = 10697.808384
    573. 

  573. Kp = 0.09, Ki = 0.00, Kd = 0.07; error = 10697.808384
    574. 

  574. Kp = 0.09, Ki = 0.00, Kd = 0.08; error = 10697.808384
    575. 

  575. Kp = 0.09, Ki = 0.00, Kd = 0.09; error = 10697.808384
    576. 

  576. Kp = 0.09, Ki = 0.01, Kd = 0.00; error = 10836.493349
    577. 

  577. Kp = 0.09, Ki = 0.01, Kd = 0.01; error = 10836.493349
    578. 

  578. Kp = 0.09, Ki = 0.01, Kd = 0.02; error = 10836.493349
    579. 

  579. Kp = 0.09, Ki = 0.01, Kd = 0.03; error = 10836.493349
    580. 

  580. Kp = 0.09, Ki = 0.01, Kd = 0.04; error = 10836.493349
    581. 

  581. Kp = 0.09, Ki = 0.01, Kd = 0.05; error = 10836.493349
    582. 

  582. Kp = 0.09, Ki = 0.01, Kd = 0.06; error = 10836.493349
    583. 

  583. Kp = 0.09, Ki = 0.01, Kd = 0.07; error = 10836.493349
    584. 

  584. Kp = 0.09, Ki = 0.01, Kd = 0.08; error = 10836.493349
    585. 

  585. Kp = 0.09, Ki = 0.01, Kd = 0.09; error = 10836.493349
    586. 

  586. Kp = 0.09, Ki = 0.02, Kd = 0.00; error = 10967.400197
    587. 

  587. Kp = 0.09, Ki = 0.02, Kd = 0.01; error = 10967.400197
    588. 

  588. Kp = 0.09, Ki = 0.02, Kd = 0.02; error = 10967.400197
    589. 

  589. Kp = 0.09, Ki = 0.02, Kd = 0.03; error = 10967.400197
    590. 

  590. Kp = 0.09, Ki = 0.02, Kd = 0.04; error = 10967.400197
    591. 

  591. Kp = 0.09, Ki = 0.02, Kd = 0.05; error = 10967.400197
    592. 

  592. Kp = 0.09, Ki = 0.02, Kd = 0.06; error = 10967.400197
    593. 

  593. Kp = 0.09, Ki = 0.02, Kd = 0.07; error = 10967.400197
    594. 

  594. Kp = 0.09, Ki = 0.02, Kd = 0.08; error = 10967.400197
    595. 

  595. Kp = 0.09, Ki = 0.02, Kd = 0.09; error = 10967.400197
    596. 

  596. Kp = 0.09, Ki = 0.03, Kd = 0.00; error = 11090.728923
    597. 

  597. Kp = 0.09, Ki = 0.03, Kd = 0.01; error = 11090.728923
    598. 

  598. Kp = 0.09, Ki = 0.03, Kd = 0.02; error = 11090.728923
    599. 

  599. Kp = 0.09, Ki = 0.03, Kd = 0.03; error = 11090.728923
    600. 

  600. Kp = 0.09, Ki = 0.03, Kd = 0.04; error = 11090.728923
    601. 

  601. Kp = 0.09, Ki = 0.03, Kd = 0.05; error = 11090.728923
    602. 

  602. Kp = 0.09, Ki = 0.03, Kd = 0.06; error = 11090.728923
    603. 

  603. Kp = 0.09, Ki = 0.03, Kd = 0.07; error = 11090.728923
    604. 

  604. Kp = 0.09, Ki = 0.03, Kd = 0.08; error = 11090.728923
    605. 

  605. Kp = 0.09, Ki = 0.03, Kd = 0.09; error = 11090.728923
    606. 

  606. Kp = 0.09, Ki = 0.04, Kd = 0.00; error = 11206.675014
    607. 

  607. Kp = 0.09, Ki = 0.04, Kd = 0.01; error = 11206.675014
    608. 

  608. Kp = 0.09, Ki = 0.04, Kd = 0.02; error = 11206.675014
    609. 

  609. Kp = 0.09, Ki = 0.04, Kd = 0.03; error = 11206.675014
    610. 

  610. Kp = 0.09, Ki = 0.04, Kd = 0.04; error = 11206.675014
    611. 

  611. Kp = 0.09, Ki = 0.04, Kd = 0.05; error = 11206.675014
    612. 

  612. Kp = 0.09, Ki = 0.04, Kd = 0.06; error = 11206.675014
    613. 

  613. Kp = 0.09, Ki = 0.04, Kd = 0.07; error = 11206.675014
    614. 

  614. Kp = 0.09, Ki = 0.04, Kd = 0.08; error = 11206.675014
    615. 

  615. Kp = 0.09, Ki = 0.04, Kd = 0.09; error = 11206.675014
    616. 

  616. Kp = 0.02, Ki = -0.10, Kd = 0.01; error = 15899.248875
    617. 

  617. Kp = 0.02, Ki = -0.09, Kd = 0.01; error = 15732.856657
    618. 

  618. Kp = 0.02, Ki = -0.08, Kd = 0.01; error = 15556.000501
    619. 

  619. Kp = 0.02, Ki = -0.07, Kd = 0.01; error = 15359.431881
    620. 

  620. Kp = 0.02, Ki = -0.06, Kd = 0.01; error = 15225.164942
    621. 

  621. Kp = 0.02, Ki = -0.05, Kd = 0.01; error = 15071.959044
    622. 

  622. Kp = 0.02, Ki = -0.04, Kd = 0.01; error = 15121.415295
    623. 

  623. Kp = 0.02, Ki = -0.03, Kd = 0.01; error = 15569.241265
    624. 

  624. Kp = 0.02, Ki = -0.02, Kd = 0.01; error = 13157.367630
    625. 

  625. Kp = 0.02, Ki = -0.01, Kd = 0.01; error = 9197.812962
    626. 

  626. Kp = 0.05, Ki = -0.10, Kd = 0.01; error = 4940.184439
    627. 

  627. Kp = 0.05, Ki = -0.09, Kd = 0.01; error = 3433.713855
    628. 

  628. Kp = 0.05, Ki = -0.08, Kd = 0.01; error = 15231.672408
    629. 

  629. Kp = 0.05, Ki = -0.07, Kd = 0.01; error = 8180.671289
    630. 

  630. Kp = 0.05, Ki = -0.06, Kd = 0.01; error = 5594.402658
    631. 

  631. Kp = 0.05, Ki = -0.05, Kd = 0.01; error = 7823.996778
    632. 

  632. Kp = 0.05, Ki = -0.04, Kd = 0.01; error = 6483.830486
    633. 

  633. Kp = 0.05, Ki = -0.03, Kd = 0.01; error = 2113.596727
    634. 

  634. Kp = 0.05, Ki = -0.02, Kd = 0.01; error = 2536.927607
    635. 

  635. Kp = 0.05, Ki = -0.01, Kd = 0.01; error = 919.901351
    636. 

  636. Kp = 0.06, Ki = -0.10, Kd = 0.01; error = 4683.581962
    637. 

  637. Kp = 0.06, Ki = -0.09, Kd = 0.01; error = 2542.275035
    638. 

  638. Kp = 0.06, Ki = -0.08, Kd = 0.01; error = 6659.183130
    639. 

  639. Kp = 0.06, Ki = -0.07, Kd = 0.01; error = 1994.407768
    640. 

  640. Kp = 0.06, Ki = -0.06, Kd = 0.01; error = 1189.882669
    641. 

  641. Kp = 0.06, Ki = -0.05, Kd = 0.01; error = 1783.764404
    642. 

  642. Kp = 0.06, Ki = -0.04, Kd = 0.01; error = 574.405107
    643. 

  643. Kp = 0.06, Ki = -0.03, Kd = 0.01; error = 1833.170734
    644. 

  644. Kp = 0.06, Ki = -0.02, Kd = 0.01; error = 1505.562897
    645. 

  645. Kp = 0.06, Ki = -0.01, Kd = 0.01; error = 1160.527280
    646. 

  646. Kp = 0.02, Ki = -0.01, Kd = 0.02; error = 9197.812962
    647. 

  647. Kp = 0.02, Ki = -0.01, Kd = 0.03; error = 9197.812962
    648. 

  648. Kp = 0.02, Ki = -0.01, Kd = 0.04; error = 9197.812962
    649. 

  649. Kp = 0.02, Ki = -0.01, Kd = 0.05; error = 9197.812962
    650. 

  650. Kp = 0.02, Ki = -0.01, Kd = 0.06; error = 9197.812962
    651. 

  651. Kp = 0.02, Ki = -0.01, Kd = 0.07; error = 9197.812962
    652. 

  652. Kp = 0.02, Ki = -0.01, Kd = 0.08; error = 9197.812962
    653. 

  653. Kp = 0.02, Ki = -0.01, Kd = 0.09; error = 9197.812962
    654. 

  654. Kp = 0.05, Ki = -0.01, Kd = 0.02; error = 919.901351
    655. 

  655. Kp = 0.05, Ki = -0.01, Kd = 0.03; error = 919.901351
    656. 

  656. Kp = 0.05, Ki = -0.01, Kd = 0.04; error = 919.901351
    657. 

  657. Kp = 0.05, Ki = -0.01, Kd = 0.05; error = 919.901351
    658. 

  658. Kp = 0.05, Ki = -0.01, Kd = 0.06; error = 919.901351
    659. 

  659. Kp = 0.05, Ki = -0.01, Kd = 0.07; error = 919.901351
    660. 

  660. Kp = 0.05, Ki = -0.01, Kd = 0.08; error = 919.901351
    661. 

  661. Kp = 0.05, Ki = -0.01, Kd = 0.09; error = 919.901351
    662. 

  662. Kp = 0.06, Ki = -0.04, Kd = 0.02; error = 574.405107
    663. 

  663. Kp = 0.06, Ki = -0.04, Kd = 0.03; error = 574.405107
    664. 

  664. Kp = 0.06, Ki = -0.04, Kd = 0.04; error = 574.405107
    665. 

  665. Kp = 0.06, Ki = -0.04, Kd = 0.05; error = 574.405107
    666. 

  666. Kp = 0.06, Ki = -0.04, Kd = 0.06; error = 574.405107
    667. 

  667. Kp = 0.06, Ki = -0.04, Kd = 0.07; error = 574.405107
    668. 

  668. Kp = 0.06, Ki = -0.04, Kd = 0.08; error = 574.405107
    669. 

  669. Kp = 0.06, Ki = -0.04, Kd = 0.09; error = 574.405107
    670. 

  670. Kp = -0.50, Ki = 0.00, Kd = 0.00; error = inf
    671. 

  671. Kp = -0.40, Ki = 0.00, Kd = 0.00; error = inf
    672. 

  672. Kp = -0.30, Ki = 0.00, Kd = 0.00; error = 73474.090699
    673. 

  673. Kp = -0.20, Ki = 0.00, Kd = 0.00; error = 16127.117227
    674. 

  674. Kp = -0.10, Ki = 0.00, Kd = 0.00; error = 11248.647214
    675. 

  675. Kp = -0.10, Ki = 0.00, Kd = 0.00; error = 11248.647214
    676. 

  676. Kp = -0.09, Ki = 0.00, Kd = 0.00; error = 10697.808384
    677. 

  677. Kp = -0.08, Ki = 0.00, Kd = 0.00; error = 10100.907378
    678. 

  678. Kp = -0.07, Ki = 0.00, Kd = 0.00; error = 412.645096
    679. 

  679. Kp = -0.06, Ki = 0.00, Kd = 0.00; error = 150.761126
    680. 

  680. Kp = -0.05, Ki = 0.00, Kd = 0.00; error = 154.763315
    681. 

  681. Kp = -0.04, Ki = 0.00, Kd = 0.00; error = 150.348664
    682. 

  682. Kp = -0.03, Ki = 0.00, Kd = 0.00; error = 221.322763
    683. 

  683. Kp = -0.02, Ki = 0.00, Kd = 0.00; error = 194.765130
    684. 

  684. Kp = -0.01, Ki = 0.00, Kd = 0.00; error = 229.425914
    685. 

  685.