R(k) R(k-1) C(k-1) C(k)

T T 2tao-2T
T tao
1 0.05 0 0 1.85185185 0.001 0.0125 0.001
2 0.62133726 0.62133726 0.04259259 47.6024859 0.001 0.0125 0.002
3 0.26445256 0.62133726 1.09485718 73.3572964 0.001 0.0125 0.003
4 -0.01331599 0.26445256 1.68721782 71.7909032 0.001 0.0125 0.004
5 0.03265265 -0.01331599 1.65119077 61.8713861 0.001 0.0125 0.005
6 0.15909461 0.03265265 1.42304188 59.8070052 0.001 0.0125 0.006
7 0.17581531 0.15909461 1.37556112 63.3507793 0.001 0.0125 0.007
8 0.1280196 0.17581531 1.45706792 65.2186232 0.001 0.0125 0.008
9 0.10745941 0.1280196 1.50002833 64.2780496 0.001 0.0125 0.009
10 0.12146507 0.10745941 1.47839514 63.2340601 0.001 0.0125 0.01
11 0.13399687 0.12146507 1.45438338 63.3276044 0.001 0.0125 0.011
12 0.13174572 0.13399687 1.4565349 63.7880549 0.001 0.0125 0.012
13 0.12589729 0.13174572 1.46712526 63.8803061 0.001 0.0125 0.013
14 0.12516726 0.12589729 1.46924704 63.715244 0.001 0.0125 0.014
15 0.12738959 0.12516726 1.46545061 63.6299061 0.001 0.0125 0.015
16 0.12832579 0.12738959 1.46348784 63.6741932 0.001 0.0125 0.016
17 0.12766894 0.12832579 1.46450644 63.7222655 0.001 0.0125 0.017
18 0.12709287 0.12766894 1.46561211 63.7175523 0.001 0.0125 0.018
19 0.12720176 0.12709287 1.4655037 63.6962344 0.001 0.0125 0.019
20 0.12747215 0.12720176 1.46501339 63.6921223 0.001 0.0125 0.02
21 0.1275039 0.12747215 1.46491881 63.6998096 0.001 0.0125 0.021
22 0.12740058 0.1275039 1.46509562 63.7037074 0.001 0.0125 0.022
23 0.12735797 0.12740058 1.46518527 63.7016231 0.001 0.0125 0.023
24 0.12738877 0.12735797 1.46513733 63.6994098 0.001 0.0125 0.024
25 0.12741524 0.12738877 1.46508643 63.6996457 0.001 0.0125 0.025
0.12740999 0.12741524 1.46509185 63.7006325 0.001 0.0125 0
0 0.12740999 1.46511455 58.9823901 0.001 0.0125 0
0 0 1.35659497 50.2442582 0.001 0.0125 0
0 0 1.15561794 42.8006644 0.001 0.0125 0
0 0 0.98441528 36.4598253 0.001 0.0125 0
0 0 0.83857598 31.0583697 0.001 0.0125 0
0 0 0.7143425 26.4571297 0.001 0.0125 0
0 0 0.60851398 22.5375549 0.001 80 0.0125 0
70

60

50

40

30

20

10

0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 1

Planta Re
30

20

10

0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 1

Planta Re
 E(k) Rk Cpid
48.1481481 50 0 621.337263
2.39751413 50 50 264.452564
-23.3572964 50 50 -13.3159946
-21.7909032 50 50 32.6526455
-11.8713861 50 50 159.094615
-9.80700518 50 50 175.815308
-13.3507793 50 50 128.019595
-15.2186232 50 50 107.45941
-14.2780496 50 50 121.465071
-13.2340601 50 50 133.996866
-13.3276044 50 50 131.745715
-13.7880549 50 50 125.897285
-13.8803061 50 50 125.167263
-13.715244 50 50 127.38959
-13.6299061 50 50 128.325788
-13.6741932 50 50 127.668937
-13.7222655 50 50 127.092866
-13.7175523 50 50 127.201762
-13.6962344 50 50 127.472149
-13.6921223 50 50 127.503896
-13.6998096 50 50 127.400583
-13.7037074 50 50 127.35797
-13.7016231 50 50 127.388765
-13.6994098 50 50 127.415242
-13.6996457 50 50 127.409985
-13.7006325 50 50 0
-8.98239011 50 50 0
-0.24425824 50 50 0
7.19933557 50 50 0
13.5401747 50 50 0
18.9416303 50 50 0
24.5428703 51 51 0
29.4624451 52 52 0

5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25

Planta Ref
5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25

Planta Ref
 R(k) R(k-1) R(k-2) C(k-1) C(k) Kp Ki
KiT^2+4Kd+2TKd 2KiT^2-8Kd KiT^2+4Kd-2TKp 2T 8.131727 9545.94
8.131727 9545.94
1 0.025809394 0 0 0 12.905 8.131727 9545.94
2 0.025809394 0.01909188 0 0.02580939 35.355 8.131727 9545.94
3 0.025809394 0.01909188 -0.006717514 0.07071067 54.447 8.131727 9545.94
4 0.025809394 0.01909188 -0.006717514 0.10889443 73.539 8.131727 9545.94
5 0.025809394 0.01909188 -0.006717514 0.14707819 92.631 8.131727 9545.94
6 0.025809394 0.01909188 -0.006717514 0.18526195 111.723 8.131727 9545.94
7 0.025809394 0.01909188 -0.006717514 0.22344571 130.815 8.131727 9545.94
8 0.025809394 0.01909188 -0.006717514 0.26162947 149.907 8.131727 9545.94
9 0.025809394 0.01909188 -0.006717514 0.29981323 168.998 8.131727 9545.94
10 0.025809394 0.01909188 -0.006717514 0.33799699 188.090 8.131727 9545.94
11 0.025809394 0.01909188 -0.006717514 0.37618075 207.182 8.131727 9545.94
12 0.025809394 0.01909188 -0.006717514 0.41436451 226.274 8.131727 9545.94
13 0.025809394 0.01909188 -0.006717514 0.45254827 245.366 8.131727 9545.94
14 0.025809394 0.01909188 -0.006717514 0.49073203 264.458 8.131727 9545.94
15 0.025809394 0.01909188 -0.006717514 0.52891579 283.550 8.131727 9545.94
16 0.025809394 0.01909188 -0.006717514 0.56709955 302.642 8.131727 9545.94
17 0.025809394 0.01909188 -0.006717514 0.60528331 321.734 8.131727 9545.94
18 0.025809394 0.01909188 -0.006717514 0.64346707 340.825 8.131727 9545.94
19 0.025809394 0.01909188 -0.006717514 0.68165083 359.917 8.131727 9545.94
20 0.025809394 0.01909188 -0.006717514 0.71983459 379.009 8.131727 9545.94
21 0.025809394 0.01909188 -0.006717514 0.75801835 398.101 8.131727 9545.94
22 0.025809394 0.01909188 -0.006717514 0.79620211 417.193 8.131727 9545.94
23 0.025809394 0.01909188 -0.006717514 0.83438587 436.285 8.131727 9545.94
24 0.025809394 0.01909188 -0.006717514 0.87256963 455.377 8.131727 9545.94
25 0.025809394 0.01909188 -0.006717514 0.91075339 474.469 8.131727 9545.94
Kd T
0 0.001
0 0.001 P+I+D PD
0 0.001 621.337263
0 0.001 264.452564
0 0.001 -13.3159946
0 0.001 32.6526455
0 0.001 159.094615
0 0.001 175.815308
0 0.001 128.019595
0 0.001 107.45941
0 0.001 121.465071
0 0.001 133.996866
0 0.001 131.745715
0 0.001 125.897285
0 0.001 125.167263
0 0.001 127.38959
0 0.001 128.325788
0 0.001 127.668937
0 0.001 127.092866
0 0.001 127.201762
0 0.001 127.472149
0 0.001 127.503896
0 0.001 127.400583
0 0.001 127.35797
0 0.001 127.388765
0 0.001 127.415242
0 0.001 127.409985
PI P+D P+I
42 4781.10173 391.527596 621.337263
4 9558.8447 21.3477822 262.600712
-34 14336.5877 -188.083306 -15.1678464
-72 19114.3306 -175.345824 30.8007936
-110 23892.0736 -94.6830187 157.242763
-148 28669.8166 -77.896037 173.963456
-186 33447.5595 -106.713041 126.167743
-224 38225.3025 -121.901838 105.607558
-262 43003.0455 -114.25335 119.613219
-300 47780.7885 -105.763912 132.145014
-338 52558.5314 -106.524589 129.893863
-376 57336.2744 -110.268847 124.045433
-414 62114.0174 -111.019008 123.315411
-452 66891.7603 -109.676768 125.537738
-490 71669.5033 -108.982823 126.473936
-528 76447.2463 -109.342955 125.817086
-566 81224.9892 -109.733865 125.241014
-604 86002.7322 -109.695538 125.34991
-642 90780.4752 -109.522188 125.620297
-680 95558.2182 -109.488749 125.652045
-718 100335.961 -109.55126 125.548731
-756 105113.704 -109.582955 125.506118
-794 109891.447 -109.566006 125.536914
-832 114669.19 -109.548009 125.56339
-870 119446.933 -109.549927 125.558133
 R(k) R(k-1) C(k-1) C(k) Kp Ki T
KiT+2Kp KiT-2Kp 2 8.131727 9545.94 0.001
8.131727 9545.94 0.001
1 9562.20345 0 0 4781.10173 8.131727 9545.94 0.001
2 9562.20345 -6.717514 9562.20345 9558.8447 8.131727 9545.94 0.001
3 9562.20345 -6.717514 19117.6894 14336.5877 8.131727 9545.94 0.001
4 9562.20345 -6.717514 28673.1753 19114.3306 8.131727 9545.94 0.001
5 9562.20345 -6.717514 38228.6613 23892.0736 8.131727 9545.94 0.001
6 9562.20345 -6.717514 47784.1472 28669.8166 8.131727 9545.94 0.001
7 9562.20345 -6.717514 57339.6332 33447.5595 8.131727 9545.94 0.001
8 9562.20345 -6.717514 66895.1191 38225.3025 8.131727 9545.94 0.001
9 9562.20345 -6.717514 76450.605 43003.0455 8.131727 9545.94 0.001
10 9562.20345 -6.717514 86006.091 47780.7885 8.131727 9545.94 0.001
11 9562.20345 -6.717514 95561.5769 52558.5314 8.131727 9545.94 0.001
12 9562.20345 -6.717514 105117.063 57336.2744 8.131727 9545.94 0.001
13 9562.20345 -6.717514 114672.549 62114.0174 8.131727 9545.94 0.001
14 9562.20345 -6.717514 124228.035 66891.7603 8.131727 9545.94 0.001
15 9562.20345 -6.717514 133783.521 71669.5033 8.131727 9545.94 0.001
16 9562.20345 -6.717514 143339.007 76447.2463 8.131727 9545.94 0.001
17 9562.20345 -6.717514 152894.493 81224.9892 8.131727 9545.94 0.001
18 9562.20345 -6.717514 162449.978 86002.7322 8.131727 9545.94 0.001
19 9562.20345 -6.717514 172005.464 90780.4752 8.131727 9545.94 0.001
20 9562.20345 -6.717514 181560.95 95558.2182 8.131727 9545.94 0.001
21 9562.20345 -6.717514 191116.436 100335.961 8.131727 9545.94 0.001
22 9562.20345 -6.717514 200671.922 105113.704 8.131727 9545.94 0.001
23 9562.20345 -6.717514 210227.408 109891.447 8.131727 9545.94 0.001
24 9562.20345 -6.717514 219782.894 114669.19 8.131727 9545.94 0.001
25 9562.20345 -6.717514 229338.38 119446.933 8.131727 9545.94 0.001
 R(k) R(k-1) C(k-1) C(k) Kp Kd T
2Kd+KpT (-2Kd-Kp) T 2 1 0.05
2 1 0.05
1 2.1 0 42 2 1 0.05
2 2.1 -4 2.1 4 2 1 0.05
3 2.1 -4 0.2 -34 2 1 0.05
4 2.1 -4 -1.7 -72 2 1 0.05
5 2.1 -4 -3.6 -110 2 1 0.05
6 2.1 -4 -5.5 -148 2 1 0.05
7 2.1 -4 -7.4 -186 2 1 0.05
8 2.1 -4 -9.3 -224 2 1 0.05
9 2.1 -4 -11.2 -262 2 1 0.05
10 2.1 -4 -13.1 -300 2 1 0.05
11 2.1 -4 -15 -338 2 1 0.05
12 2.1 -4 -16.9 -376 2 1 0.05
13 2.1 -4 -18.8 -414 2 1 0.05
14 2.1 -4 -20.7 -452 2 1 0.05
15 2.1 -4 -22.6 -490 2 1 0.05
16 2.1 -4 -24.5 -528 2 1 0.05
17 2.1 -4 -26.4 -566 2 1 0.05
18 2.1 -4 -28.3 -604 2 1 0.05
19 2.1 -4 -30.2 -642 2 1 0.05
20 2.1 -4 -32.1 -680 2 1 0.05
21 2.1 -4 -34 -718 2 1 0.05
22 2.1 -4 -35.9 -756 2 1 0.05
23 2.1 -4 -37.8 -794 2 1 0.05
24 2.1 -4 -39.7 -832 2 1 0.05
25 2.1 -4 -41.6 -870 2 1 0.05
 R(k) C(k) Kp T
Kp

1 391.527596 391.527596 8.131727 0.001

2 19.4959304 19.4959304 8.131727 0.001
3 -189.935157 -189.935157 8.131727 0.001
4 -177.197676 -177.197676 8.131727 0.001
5 -96.5348706 -96.5348706 8.131727 0.001
6 -79.7478888 -79.7478888 8.131727 0.001
7 -108.564893 -108.564893 8.131727 0.001
8 -123.753689 -123.753689 8.131727 0.001
9 -116.105201 -116.105201 8.131727 0.001
10 -107.615764 -107.615764 8.131727 0.001
11 -108.376441 -108.376441 8.131727 0.001
12 -112.120698 -112.120698 8.131727 0.001
13 -112.87086 -112.87086 8.131727 0.001
14 -111.52862 -111.52862 8.131727 0.001
15 -110.834675 -110.834675 8.131727 0.001
16 -111.194806 -111.194806 8.131727 0.001
17 -111.585717 -111.585717 8.131727 0.001
18 -111.54739 -111.54739 8.131727 0.001
19 -111.374039 -111.374039 8.131727 0.001
20 -111.340601 -111.340601 8.131727 0.001
21 -111.403111 -111.403111 8.131727 0.001
22 -111.434807 -111.434807 8.131727 0.001
23 -111.417858 -111.417858 8.131727 0.001
24 -111.399861 -111.399861 8.131727 0.001
25 -111.401779 -111.401779 8.131727 0.001
 R(k) R(k-1) C(k-1) C(k) Ki T
KiT KiT 2

1 459.619333 0 0 229.809667 9545.94 0.001

2 22.886526 459.619333 3.7037037 243.104782 9545.94 0.001
3 -222.96735 477.297 95.2049717 174.767311 9545.94 0.001
4 -208.014654 477.297 146.714593 207.998469 9545.94 0.001
5 -113.323539 477.297 143.581806 253.777634 9545.94 0.001
6 -93.617083 477.297 123.742772 253.711345 9545.94 0.001
7 -127.445738 477.297 119.61401 234.732636 9545.94 0.001
8 -145.276064 477.297 126.701559 229.361247 9545.94 0.001
9 -136.297405 477.297 130.437246 235.718421 9545.94 0.001
10 -126.331543 477.297 128.556099 239.760778 9545.94 0.001
11 -127.224512 477.297 126.46812 238.270304 9545.94 0.001
12 -131.619945 477.297 126.655209 236.166132 9545.94 0.001
13 -132.500569 477.297 127.57611 236.18627 9545.94 0.001
14 -130.924896 477.297 127.760612 237.066358 9545.94 0.001
15 -130.110266 477.297 127.430488 237.308611 9545.94 0.001
16 -130.533028 477.297 127.259812 237.011892 9545.94 0.001
17 -130.991924 477.297 127.348386 236.826731 9545.94 0.001
18 -130.946931 477.297 127.444531 236.8973 9545.94 0.001
19 -130.743432 477.297 127.435105 236.994336 9545.94 0.001
20 -130.704178 477.297 127.392469 236.992645 9545.94 0.001
21 -130.77756 477.297 127.384245 236.951842 9545.94 0.001
22 -130.814768 477.297 127.399619 236.940925 9545.94 0.001
23 -130.794872 477.297 127.407415 236.954772 9545.94 0.001
24 -130.773744 477.297 127.403246 236.963251 9545.94 0.001
25 -130.775996 477.297 127.39882 236.959912 9545.94 0.001
 R(k) R(k-1) C(k-1) C(k) Kd T
2Kd (-2Kd) T

1 0 0 0 0 0 0.001
2 0 0 0.00185185 1.85185185 0 0.001
3 0 0 0.00185185 1.85185185 0 0.001
4 0 0 0.00185185 1.85185185 0 0.001
5 0 0 0.00185185 1.85185185 0 0.001
6 0 0 0.00185185 1.85185185 0 0.001
7 0 0 0.00185185 1.85185185 0 0.001
8 0 0 0.00185185 1.85185185 0 0.001
9 0 0 0.00185185 1.85185185 0 0.001
10 0 0 0.00185185 1.85185185 0 0.001
11 0 0 0.00185185 1.85185185 0 0.001
12 0 0 0.00185185 1.85185185 0 0.001
13 0 0 0.00185185 1.85185185 0 0.001
14 0 0 0.00185185 1.85185185 0 0.001
15 0 0 0.00185185 1.85185185 0 0.001
16 0 0 0.00185185 1.85185185 0 0.001
17 0 0 0.00185185 1.85185185 0 0.001
18 0 0 0.00185185 1.85185185 0 0.001
19 0 0 0.00185185 1.85185185 0 0.001
20 0 0 0.00185185 1.85185185 0 0.001
21 0 0 0.00185185 1.85185185 0 0.001
22 0 0 0.00185185 1.85185185 0 0.001
23 0 0 0.00185185 1.85185185 0 0.001
24 0 0 0.00185185 1.85185185 0 0.001
25 0 0 0.00185185 1.85185185 0 0.001