Proportional 0.4 Proportional 0.

4
Integral 0.6 Integral 0.8

SP 50 SP 50
ABSOLUTE
Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration PV
1 0 50 50 20 12 1 0
2 20 30 30 24 19.2 2 20
3 24 26 26 29.6 25.44 3 28
4 29.6 20.4 20.4 33.6 30.34 4 34.4
5 33.6 16.4 16.4 36.9 34.27 5 38.88
6 36.9 13.1 13.1 39.51 37.42 6 42.08
7 39.51 10.49 10.49 41.61 39.93 7 44.36
8 41.61 8.39 8.39 43.29 41.95 8 45.98
9 43.29 6.71 6.71 44.63 43.56 9 47.14
10 44.63 5.37 5.37 45.71 44.85 10 47.96
11 45.71 4.29 4.29 46.56 45.88 11 48.55
12 46.56 3.44 3.44 47.25 46.7 12 48.97
13 47.25 2.75 2.75 47.8 47.36 13 49.26
14 47.8 2.2 2.2 48.24 47.89 14 49.48
15 48.24 1.76 1.76 48.59 48.31 15 49.63
16 48.59 1.41 1.41 48.87 48.65 16 49.73
17 48.87 1.13 1.13 49.1 48.92 17 49.81
18 49.1 0.9 0.9 49.28 49.14 18 49.86
19 49.28 0.72 0.72 49.42 49.31 19 49.9
20 49.42 0.58 0.58 49.54 49.45 20 49.93
21 49.54 0.46 0.46 49.63 49.56 21 49.95
22 49.63 0.37 0.37 49.7 49.65 22 49.97
23 49.7 0.3 0.3 49.76 49.72 23 49.98
24 49.76 0.24 0.24 49.81 49.77 24 49.98
25 49.81 0.19 0.19 49.85 49.82 25 49.99
26 49.85 0.15 0.15 49.88 49.85 26 49.99
27 49.88 0.12 0.12 49.9 49.88 27 49.99
28 49.9 0.1 0.1 49.92 49.91 28 50
29 49.92 0.08 0.08 49.94 49.93 29 50
30 49.94 0.06 0.06 49.95 49.94 30 50
31 49.95 0.05 0.05 49.96 49.95 31 50
32 49.96 0.04 0.04 49.97 49.96 32 50
33 49.97 0.03 0.03 49.97 49.97 33 50
34 49.97 0.03 0.03 49.98 49.98 34 50
35 49.98 0.02 0.02 49.98 49.98 35 50
36 49.98 0.02 0.02 49.99 49.98 36 50
37 49.99 0.01 0.01 49.99 49.99 37 50
38 49.99 0.01 0.01 49.99 49.99 38 50
39 49.99 0.01 0.01 49.99 49.99 39 50
40 49.99 0.01 0.01 49.99 49.99 40 50
41 49.99 0.01 0.01 50 49.99 41 50
42 50 0 0 50 50 42 50
43 50 0 0 50 50 43 50
44 50 0 0 50 50 44 50
45 50 0 0 50 50 45 50
46 50 0 0 50 50 46 50
 47 50 0 0 50 50 47 50
48 50 0 0 50 50 48 50
49 50 0 0 50 50 49 50
50 50 0 0 50 50 50 50

SUM OF ERROR 208.33

 Proportional 0.4
Integral 0.9

SP 50
ABSOLUTE ABSOLUTE
ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR
50 50 20 16 1 0 50 50
30 30 28 25.6 2 20 30 30
22 22 34.4 32.64 3 30 20 20
15.6 15.6 38.88 37.63 4 36.8 13.2 13.2
11.12 11.12 42.08 41.19 5 41.28 8.72 8.72
7.92 7.92 44.36 43.72 6 44.24 5.76 5.76
5.64 5.64 45.98 45.53 7 46.2 3.8 3.8
4.02 4.02 47.14 46.82 8 47.49 2.51 2.51
2.86 2.86 47.96 47.73 9 48.34 1.66 1.66
2.04 2.04 48.55 48.38 10 48.9 1.1 1.1
1.45 1.45 48.97 48.85 11 49.28 0.72 0.72
1.03 1.03 49.26 49.18 12 49.52 0.48 0.48
0.74 0.74 49.48 49.42 13 49.68 0.32 0.32
0.52 0.52 49.63 49.58 14 49.79 0.21 0.21
0.37 0.37 49.73 49.7 15 49.86 0.14 0.14
0.27 0.27 49.81 49.79 16 49.91 0.09 0.09
0.19 0.19 49.86 49.85 17 49.94 0.06 0.06
0.14 0.14 49.9 49.89 18 49.96 0.04 0.04
0.1 0.1 49.93 49.92 19 49.97 0.03 0.03
0.07 0.07 49.95 49.95 20 49.98 0.02 0.02
0.05 0.05 49.97 49.96 21 49.99 0.01 0.01
0.03 0.03 49.98 49.97 22 49.99 0.01 0.01
0.02 0.02 49.98 49.98 23 50 0 0
0.02 0.02 49.99 49.99 24 50 0 0
0.01 0.01 49.99 49.99 25 50 0 0
0.01 0.01 49.99 49.99 26 50 0 0
0.01 0.01 50 49.99 27 50 0 0
0 0 50 50 28 50 0 0
0 0 50 50 29 50 0 0
0 0 50 50 30 50 0 0
0 0 50 50 31 50 0 0
0 0 50 50 32 50 0 0
0 0 50 50 33 50 0 0
0 0 50 50 34 50 0 0
0 0 50 50 35 50 0 0
0 0 50 50 36 50 0 0
0 0 50 50 37 50 0 0
0 0 50 50 38 50 0 0
0 0 50 50 39 50 0 0
0 0 50 50 40 50 0 0
0 0 50 50 41 50 0 0
0 0 50 50 42 50 0 0
0 0 50 50 43 50 0 0
0 0 50 50 44 50 0 0
0 0 50 50 45 50 0 0
0 0 50 50 46 50 0 0
0 0 50 50 47 50 0 0
0 0 50 50 48 50 0 0
0 0 50 50 49 50 0 0
0 0 50 50 50 50 0 0

156.25 138.89
 Proportional 0.4
Integral 1

SP 50
ABSOLUTE ABSOLUTE
OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT INTEGRAL
20 18 1 0 50 50 20 20
30 28.8 2 20 30 30 32 32
36.8 36 3 32 18 18 39.2 39.2
41.28 40.75 4 39.2 10.8 10.8 43.52 43.52
44.24 43.89 5 43.52 6.48 6.48 46.11 46.11
46.2 45.96 6 46.11 3.89 3.89 47.67 47.67
47.49 47.33 7 47.67 2.33 2.33 48.6 48.6
48.34 48.24 8 48.6 1.4 1.4 49.16 49.16
48.9 48.84 9 49.16 0.84 0.84 49.5 49.5
49.28 49.23 10 49.5 0.5 0.5 49.7 49.7
49.52 49.49 11 49.7 0.3 0.3 49.82 49.82
49.68 49.66 12 49.82 0.18 0.18 49.89 49.89
49.79 49.78 13 49.89 0.11 0.11 49.93 49.93
49.86 49.85 14 49.93 0.07 0.07 49.96 49.96
49.91 49.9 15 49.96 0.04 0.04 49.98 49.98
49.94 49.94 16 49.98 0.02 0.02 49.99 49.99
49.96 49.96 17 49.99 0.01 0.01 49.99 49.99
49.97 49.97 18 49.99 0.01 0.01 49.99 49.99
49.98 49.98 19 49.99 0.01 0.01 50 50
49.99 49.99 20 50 0 0 50 50
49.99 49.99 21 50 0 0 50 50
50 49.99 22 50 0 0 50 50
50 50 23 50 0 0 50 50
50 50 24 50 0 0 50 50
50 50 25 50 0 0 50 50
50 50 26 50 0 0 50 50
50 50 27 50 0 0 50 50
50 50 28 50 0 0 50 50
50 50 29 50 0 0 50 50
50 50 30 50 0 0 50 50
50 50 31 50 0 0 50 50
50 50 32 50 0 0 50 50
50 50 33 50 0 0 50 50
50 50 34 50 0 0 50 50
50 50 35 50 0 0 50 50
50 50 36 50 0 0 50 50
50 50 37 50 0 0 50 50
50 50 38 50 0 0 50 50
50 50 39 50 0 0 50 50
50 50 40 50 0 0 50 50
50 50 41 50 0 0 50 50
50 50 42 50 0 0 50 50
50 50 43 50 0 0 50 50
50 50 44 50 0 0 50 50
50 50 45 50 0 0 50 50
50 50 46 50 0 0 50 50
50 50 47 50 0 0 50 50
50 50 48 50 0 0 50 50
50 50 49 50 0 0 50 50
50 50 50 50 0 0 50 50

125
Proportional 0.4 Proportional 0.4
Integral 1.1 Integral 1.2

SP 50 SP 50
ABSOLUTE
Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR
1 0 50 50 20 22 1 0 50
2 20 30 30 34 35.2 2 20 30
3 34 16 16 41.6 42.24 3 36 14
4 41.6 8.4 8.4 45.6 45.94 4 44 6
5 45.6 4.4 4.4 47.7 47.87 5 47.52 2.48
6 47.7 2.3 2.3 48.79 48.89 6 48.99 1.01
7 48.79 1.21 1.21 49.37 49.42 7 49.59 0.41
8 49.37 0.63 0.63 49.67 49.69 8 49.84 0.16
9 49.67 0.33 0.33 49.83 49.84 9 49.93 0.07
10 49.83 0.17 0.17 49.91 49.92 10 49.97 0.03
11 49.91 0.09 0.09 49.95 49.96 11 49.99 0.01
12 49.95 0.05 0.05 49.98 49.98 12 50 0
13 49.98 0.02 0.02 49.99 49.99 13 50 0
14 49.99 0.01 0.01 49.99 49.99 14 50 0
15 49.99 0.01 0.01 50 50 15 50 0
16 50 0 0 50 50 16 50 0
17 50 0 0 50 50 17 50 0
18 50 0 0 50 50 18 50 0
19 50 0 0 50 50 19 50 0
20 50 0 0 50 50 20 50 0
21 50 0 0 50 50 21 50 0
22 50 0 0 50 50 22 50 0
23 50 0 0 50 50 23 50 0
24 50 0 0 50 50 24 50 0
25 50 0 0 50 50 25 50 0
26 50 0 0 50 50 26 50 0
27 50 0 0 50 50 27 50 0
28 50 0 0 50 50 28 50 0
29 50 0 0 50 50 29 50 0
30 50 0 0 50 50 30 50 0
31 50 0 0 50 50 31 50 0
32 50 0 0 50 50 32 50 0
33 50 0 0 50 50 33 50 0
34 50 0 0 50 50 34 50 0
35 50 0 0 50 50 35 50 0
36 50 0 0 50 50 36 50 0
37 50 0 0 50 50 37 50 0
38 50 0 0 50 50 38 50 0
39 50 0 0 50 50 39 50 0
40 50 0 0 50 50 40 50 0
41 50 0 0 50 50 41 50 0
42 50 0 0 50 50 42 50 0
43 50 0 0 50 50 43 50 0
44 50 0 0 50 50 44 50 0
45 50 0 0 50 50 45 50 0
46 50 0 0 50 50 46 50 0
47 50 0 0 50 50 47 50 0
48 50 0 0 50 50 48 50 0
49 50 0 0 50 50 49 50 0
50 50 0 0 50 50 50 50 0

113.64
 Proportional 0.4
Integral 1.4

SP 50
ABSOLUTE ABSOLUTE
ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT INTEGRAL
50 20 24 1 0 50 50 20 28
30 36 38.4 2 20 30 30 40 44.8
14 44 45.12 3 40 10 10 48.8 50.4
6 47.52 48 4 48.8 1.2 1.2 50.88 51.07
2.48 48.99 49.19 5 50.88 -0.88 0.88 50.72 50.58
1.01 49.59 49.67 6 50.72 -0.72 0.72 50.29 50.18
0.41 49.84 49.87 7 50.29 -0.29 0.29 50.06 50.01
0.16 49.93 49.95 8 50.06 -0.06 0.06 49.99 49.98
0.07 49.97 49.98 9 49.99 0.01 0.01 49.98 49.99
0.03 49.99 49.99 10 49.98 0.02 0.02 49.99 49.99
0.01 50 50 11 49.99 0.01 0.01 50 50
0 50 50 12 50 0 0 50 50
0 50 50 13 50 0 0 50 50
0 50 50 14 50 0 0 50 50
0 50 50 15 50 0 0 50 50
0 50 50 16 50 0 0 50 50
0 50 50 17 50 0 0 50 50
0 50 50 18 50 0 0 50 50
0 50 50 19 50 0 0 50 50
0 50 50 20 50 0 0 50 50
0 50 50 21 50 0 0 50 50
0 50 50 22 50 0 0 50 50
0 50 50 23 50 0 0 50 50
0 50 50 24 50 0 0 50 50
0 50 50 25 50 0 0 50 50
0 50 50 26 50 0 0 50 50
0 50 50 27 50 0 0 50 50
0 50 50 28 50 0 0 50 50
0 50 50 29 50 0 0 50 50
0 50 50 30 50 0 0 50 50
0 50 50 31 50 0 0 50 50
0 50 50 32 50 0 0 50 50
0 50 50 33 50 0 0 50 50
0 50 50 34 50 0 0 50 50
0 50 50 35 50 0 0 50 50
0 50 50 36 50 0 0 50 50
0 50 50 37 50 0 0 50 50
0 50 50 38 50 0 0 50 50
0 50 50 39 50 0 0 50 50
0 50 50 40 50 0 0 50 50
0 50 50 41 50 0 0 50 50
0 50 50 42 50 0 0 50 50
0 50 50 43 50 0 0 50 50
0 50 50 44 50 0 0 50 50
0 50 50 45 50 0 0 50 50
0 50 50 46 50 0 0 50 50
 0 50 50 47 50 0 0 50 50
0 50 50 48 50 0 0 50 50
0 50 50 49 50 0 0 50 50
0 50 50 50 50 0 0 50 50

104.17 93.19
INTEGRAL
Proportional 0.4 Proportional 0.4
Integral 0.6 Integral 0.8

SP 50 SP 50
ABSOLUTE
Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration PV
0 0
1 0 50 50 20 12 1 0
2 0 50 50 32 24 2 0
3 20 30 30 36 31.2 3 20
4 32 18 18 38.4 35.52 4 36
5 36 14 14 41.12 38.88 5 44
6 38.4 11.6 11.6 43.52 41.66 6 47.2
7 41.12 8.88 8.88 45.22 43.8 7 48.48
8 43.52 6.48 6.48 46.39 45.35 8 49.12
9 45.22 4.78 4.78 47.26 46.5 9 49.5
10 46.39 3.61 3.61 47.94 47.37 10 49.73
11 47.26 2.74 2.74 48.46 48.02 11 49.86
12 47.94 2.06 2.06 48.84 48.52 12 49.93
13 48.46 1.54 1.54 49.13 48.89 13 49.96
14 48.84 1.16 1.16 49.35 49.16 14 49.98
15 49.13 0.87 0.87 49.51 49.37 15 49.99
16 49.35 0.65 0.65 49.63 49.53 16 49.99
17 49.51 0.49 0.49 49.72 49.65 17 50
18 49.63 0.37 0.37 49.79 49.73 18 50
19 49.72 0.28 0.28 49.84 49.8 19 50
20 49.79 0.21 0.21 49.88 49.85 20 50
21 49.84 0.16 0.16 49.91 49.89 21 50
22 49.88 0.12 0.12 49.93 49.92 22 50
23 49.91 0.09 0.09 49.95 49.94 23 50
24 49.93 0.07 0.07 49.96 49.95 24 50
25 49.95 0.05 0.05 49.97 49.96 25 50
26 49.96 0.04 0.04 49.98 49.97 26 50
27 49.97 0.03 0.03 49.98 49.98 27 50
28 49.98 0.02 0.02 49.99 49.98 28 50
29 49.98 0.02 0.02 49.99 49.99 29 50
30 49.99 0.01 0.01 49.99 49.99 30 50
31 49.99 0.01 0.01 49.99 49.99 31 50
32 49.99 0.01 0.01 50 50 32 50
33 49.99 0.01 0.01 50 50 33 50
34 50 0 0 50 50 34 50
35 50 0 0 50 50 35 50
36 50 0 0 50 50 36 50
37 50 0 0 50 50 37 50
38 50 0 0 50 50 38 50
39 50 0 0 50 50 39 50
40 50 0 0 50 50 40 50
41 50 0 0 50 50 41 50
42 50 0 0 50 50 42 50
43 50 0 0 50 50 43 50
44 50 0 0 50 50 44 50
45 50 0 0 50 50 45 50
46 50 0 0 50 50 46 50
47 50 0 0 50 50 47 50
48 50 0 0 50 50 48 50
49 50 0 0 50 50 49 50
50 50 0 0 50 50 50

208.33
 Proportional 0.4
Integral 0.9

SP 50
ABSOLUTE ABSOLUTE
ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT
0 0 0
50 50 20 16 1 0 50 50 20
50 50 36 32 2 0 50 50 38
30 30 44 41.6 3 20 30 30 48
14 14 47.2 46.08 4 38 12 12 51.6
6 6 48.48 48 5 48 2 2 51.92
2.8 2.8 49.12 48.9 6 51.6 -1.6 1.6 51.2
1.52 1.52 49.5 49.38 7 51.92 -1.92 1.92 50.5
0.88 0.88 49.73 49.66 8 51.2 -1.2 1.2 50.09
0.5 0.5 49.86 49.82 9 50.5 -0.5 0.5 49.94
0.27 0.27 49.93 49.91 10 50.09 -0.09 0.09 49.93
0.14 0.14 49.96 49.95 11 49.94 0.06 0.06 49.95
0.07 0.07 49.98 49.97 12 49.93 0.07 0.07 49.98
0.04 0.04 49.99 49.99 13 49.95 0.05 0.05 50
0.02 0.02 49.99 49.99 14 49.98 0.02 0.02 50
0.01 0.01 50 50 15 50 0 0 50
0.01 0.01 50 50 16 50 0 0 50
0 0 50 50 17 50 0 0 50
0 0 50 50 18 50 0 0 50
0 0 50 50 19 50 0 0 50
0 0 50 50 20 50 0 0 50
0 0 50 50 21 50 0 0 50
0 0 50 50 22 50 0 0 50
0 0 50 50 23 50 0 0 50
0 0 50 50 24 50 0 0 50
0 0 50 50 25 50 0 0 50
0 0 50 50 26 50 0 0 50
0 0 50 50 27 50 0 0 50
0 0 50 50 28 50 0 0 50
0 0 50 50 29 50 0 0 50
0 0 50 50 30 50 0 0 50
0 0 50 50 31 50 0 0 50
0 0 50 50 32 50 0 0 50
0 0 50 50 33 50 0 0 50
0 0 50 50 34 50 0 0 50
0 0 50 50 35 50 0 0 50
0 0 50 50 36 50 0 0 50
0 0 50 50 37 50 0 0 50
0 0 50 50 38 50 0 0 50
0 0 50 50 39 50 0 0 50
0 0 50 50 40 50 0 0 50
0 0 50 50 41 50 0 0 50
0 0 50 50 42 50 0 0 50
0 0 50 50 43 50 0 0 50
0 0 50 50 44 50 0 0 50
0 0 50 50 45 50 0 0 50
0 0 50 50 46 50 0 0 50
0 0 50 50 47 50 0 0 50
0 0 50 50 48 50 0 0 50
0 0 50 50 49 50 0 0 50
0 0 50 50 0 0

156.25 149.52
 Proportional 0.4 Proportional
Integral 1 Integral

SP 50 SP
ABSOLUTE
INTEGRAL Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration
0 0 0
18 1 0 50 50 20 20 1
36 2 0 50 50 40 40 2
46.8 3 20 30 30 52 52 3
51.12 4 40 10 10 56 56 4
51.84 5 52 -2 2 55.2 55.2 5
51.26 6 56 -6 6 52.8 52.8 6
50.57 7 55.2 -5.2 5.2 50.72 50.72 7
50.14 8 52.8 -2.8 2.8 49.6 49.6 8
49.96 9 50.72 -0.72 0.72 49.31 49.31 9
49.93 10 49.6 0.4 0.4 49.47 49.47 10
49.95 11 49.31 0.69 0.69 49.75 49.75 11
49.98 12 49.47 0.53 0.53 49.96 49.96 12
49.99 13 49.75 0.25 0.25 50.06 50.06 13
50 14 49.96 0.04 0.04 50.08 50.08 14
50 15 50.06 -0.06 0.06 50.05 50.05 15
50 16 50.08 -0.08 0.08 50.02 50.02 16
50 17 50.05 -0.05 0.05 50 50 17
50 18 50.02 -0.02 0.02 49.99 49.99 18
50 19 50 0 0 49.99 49.99 19
50 20 49.99 0.01 0.01 49.99 49.99 20
50 21 49.99 0.01 0.01 50 50 21
50 22 49.99 0.01 0.01 50 50 22
50 23 50 0 0 50 50 23
50 24 50 0 0 50 50 24
50 25 50 0 0 50 50 25
50 26 50 0 0 50 50 26
50 27 50 0 0 50 50 27
50 28 50 0 0 50 50 28
50 29 50 0 0 50 50 29
50 30 50 0 0 50 50 30
50 31 50 0 0 50 50 31
50 32 50 0 0 50 50 32
50 33 50 0 0 50 50 33
50 34 50 0 0 50 50 34
50 35 50 0 0 50 50 35
50 36 50 0 0 50 50 36
50 37 50 0 0 50 50 37
50 38 50 0 0 50 50 38
50 39 50 0 0 50 50 39
50 40 50 0 0 50 50 40
50 41 50 0 0 50 50 41
50 42 50 0 0 50 50 42
50 43 50 0 0 50 50 43
50 44 50 0 0 50 50 44
50 45 50 0 0 50 50 45
50 46 50 0 0 50 50 46
50 47 50 0 0 50 50 47
50 48 50 0 0 50 50 48
50 49 50 0 0 50 50 49
50 50 0 0 50 50 50

158.87
 0.4 Proportional 0.4
1.1 Integral 1.2

50 SP 50
ABSOLUTE ABSOLUTE
PV ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR
0 0
0 50 50 20 22 1 0 50 50
0 50 50 42 44 2 0 50 50
20 30 30 56 57.2 3 20 30 30
42 8 8 60.4 60.72 4 44 6 6
56 -6 6 58.32 58.08 5 60 -10 10
60.4 -10.4 10.4 53.92 53.5 6 64.8 -14.8 14.8
58.32 -8.32 8.32 50.18 49.84 7 61.28 -11.28 11.28
53.92 -3.92 3.92 48.28 48.12 8 54.56 -4.56 4.56
50.18 -0.18 0.18 48.05 48.04 9 48.86 1.14 1.14
48.28 1.72 1.72 48.73 48.8 10 46.14 3.86 3.86
48.05 1.95 1.95 49.58 49.66 11 46.23 3.77 3.77
48.73 1.27 1.27 50.17 50.22 12 47.86 2.14 2.14
49.58 0.42 0.42 50.38 50.4 13 49.68 0.32 0.32
50.17 -0.17 0.17 50.34 50.33 14 50.84 -0.84 0.84
50.38 -0.38 0.38 50.17 50.16 15 51.14 -1.14 1.14
50.34 -0.34 0.34 50.03 50.01 16 50.83 -0.83 0.83
50.17 -0.17 0.17 49.94 49.93 17 50.31 -0.31 0.31
50.03 -0.03 0.03 49.92 49.92 18 49.88 0.12 0.12
49.94 0.06 0.06 49.95 49.95 19 49.7 0.3 0.3
49.92 0.08 0.08 49.98 49.98 20 49.72 0.28 0.28
49.95 0.05 0.05 50 50.01 21 49.85 0.15 0.15
49.98 0.02 0.02 50.01 50.01 22 49.99 0.01 0.01
50 0 0 50.01 50.01 23 50.07 -0.07 0.07
50.01 -0.01 0.01 50.01 50.01 24 50.09 -0.09 0.09
50.01 -0.01 0.01 50 50 25 50.06 -0.06 0.06
50.01 -0.01 0.01 50 50 26 50.02 -0.02 0.02
50 0 0 50 50 27 49.99 0.01 0.01
50 0 0 50 50 28 49.98 0.02 0.02
50 0 0 50 50 29 49.98 0.02 0.02
50 0 0 50 50 30 49.99 0.01 0.01
50 0 0 50 50 31 50 0 0
50 0 0 50 50 32 50.01 -0.01 0.01
50 0 0 50 50 33 50.01 -0.01 0.01
50 0 0 50 50 34 50 0 0
50 0 0 50 50 35 50 0 0
50 0 0 50 50 36 50 0 0
50 0 0 50 50 37 50 0 0
50 0 0 50 50 38 50 0 0
50 0 0 50 50 39 50 0 0
50 0 0 50 50 40 50 0 0
50 0 0 50 50 41 50 0 0
50 0 0 50 50 42 50 0 0
50 0 0 50 50 43 50 0 0
50 0 0 50 50 44 50 0 0
50 0 0 50 50 45 50 0 0
50 0 0 50 50 46 50 0 0
50 0 0 50 50 47 50 0 0
50 0 0 50 50 48 50 0 0
50 0 0 50 50 49 50 0 0
50 0 0 50 50 50 50 0 0

173.52 192.17
 Proportional 0.4
Integral 1.4

SP 50
ABSOLUTE ABSOLUTE
OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT INTEGRAL
0 0 0 0
20 24 1 0 50 50 20 28
44 48 2 0 50 50 48 56
60 62.4 3 20 30 30 68 72.8
64.8 65.28 4 48 2 2 73.6 73.92
61.28 60.48 5 68 -18 18 66.72 63.84
54.56 53.38 6 73.6 -23.6 23.6 54.4 50.62
48.86 47.96 7 66.72 -16.72 16.72 43.94 41.26
46.14 45.77 8 54.4 -4.4 4.4 39.5 38.8
46.23 46.32 9 43.94 6.06 6.06 41.22 42.19
47.86 48.17 10 39.5 10.5 10.5 46.39 48.07
49.68 49.98 11 41.22 8.78 8.78 51.58 52.99
50.84 51.01 12 46.39 3.61 3.61 54.43 55.01
51.14 51.16 13 51.58 -1.58 1.58 54.37 54.12
50.83 50.76 14 54.43 -4.43 4.43 52.35 51.64
50.31 50.21 15 54.37 -4.37 4.37 49.89 49.19
49.88 49.82 16 52.35 -2.35 2.35 48.25 47.87
49.7 49.67 17 49.89 0.11 0.11 47.92 47.94
49.72 49.73 18 48.25 1.75 1.75 48.64 48.92
49.85 49.87 19 47.92 2.08 2.08 49.75 50.08
49.99 50.01 20 48.64 1.36 1.36 50.63 50.85
50.07 50.08 21 49.75 0.25 0.25 50.95 50.99
50.09 50.09 22 50.63 -0.63 0.63 50.74 50.64
50.06 50.05 23 50.95 -0.95 0.95 50.26 50.11
50.02 50.01 24 50.74 -0.74 0.74 49.81 49.69
49.99 49.98 25 50.26 -0.26 0.26 49.59 49.55
49.98 49.97 26 49.81 0.19 0.19 49.63 49.66
49.98 49.98 27 49.59 0.41 0.41 49.82 49.88
49.99 49.99 28 49.63 0.37 0.37 50.03 50.09
50 50 29 49.82 0.18 0.18 50.17 50.2
50.01 50.01 30 50.03 -0.03 0.03 50.18 50.18
50.01 50.01 31 50.17 -0.17 0.17 50.11 50.08
50 50 32 50.18 -0.18 0.18 50.01 49.98
50 50 33 50.11 -0.11 0.11 49.94 49.92
50 50 34 50.01 -0.01 0.01 49.92 49.91
50 50 35 49.94 0.06 0.06 49.94 49.95
50 50 36 49.92 0.08 0.08 49.98 50
50 50 37 49.94 0.06 0.06 50.02 50.03
50 50 38 49.98 0.02 0.02 50.04 50.04
50 50 39 50.02 -0.02 0.02 50.03 50.03
50 50 40 50.04 -0.04 0.04 50.01 50.01
50 50 41 50.03 -0.03 0.03 49.99 49.99
50 50 42 50.01 -0.01 0.01 49.98 49.98
50 50 43 49.99 0.01 0.01 49.98 49.99
50 50 44 49.98 0.02 0.02 49.99 49.99
50 50 45 49.98 0.02 0.02 50 50
50 50 46 49.99 0.01 0.01 50.01 50.01
50 50 47 50 0 0 50.01 50.01
50 50 48 50.01 -0.01 0.01 50 50
50 50 49 50.01 -0.01 0.01 50 50
50 50 50 50 0 0 50 50

246.58
Proportional 0.4 Proportional 0.4
Integral 0.6 Integral 0.8

SP 50 SP 50
ABSOLUTE
Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration PV
0 0
0 0
1 0 50 50 20 12 1 0
2 0 50 50 32 24 2 0
3 0 50 50 44 36 3 0
4 20 30 30 48 43.2 4 20
5 32 18 18 50.4 47.52 5 36
6 44 6 6 49.92 48.96 6 52
7 48 2 2 49.76 49.44 7 60
8 50.4 -0.4 0.4 49.28 49.34 8 63.2
9 49.92 0.08 0.08 49.38 49.36 9 61.28
10 49.76 0.24 0.24 49.46 49.42 10 57.44
11 49.28 0.72 0.72 49.71 49.59 11 52.96
12 49.38 0.62 0.62 49.84 49.74 12 49.5
13 49.46 0.54 0.54 49.96 49.87 13 47.43
14 49.71 0.29 0.29 49.99 49.94 14 46.84
15 49.84 0.16 0.16 50.01 49.98 15 47.28
16 49.96 0.04 0.04 50 49.99 16 48.26
17 49.99 0.01 0.01 49.99 49.99 17 49.32
18 50.01 -0.01 0.01 49.99 49.99 18 50.16
19 50 0 0 49.99 49.99 19 50.64
20 49.99 0.01 0.01 49.99 49.99 20 50.77
21 49.99 0.01 0.01 50 50 21 50.65
22 49.99 0.01 0.01 50 50 22 50.41
23 49.99 0.01 0.01 50 50 23 50.15
24 50 0 0 50 50 24 49.95
25 50 0 0 50 50 25 49.84
26 50 0 0 50 50 26 49.81
27 50 0 0 50 50 27 49.84
28 50 0 0 50 50 28 49.9
29 50 0 0 50 50 29 49.97
30 50 0 0 50 50 30 50.01
31 50 0 0 50 50 31 50.04
32 50 0 0 50 50 32 50.05
33 50 0 0 50 50 33 50.04
34 50 0 0 50 50 34 50.02
35 50 0 0 50 50 35 50.01
36 50 0 0 50 50 36 50
37 50 0 0 50 50 37 49.99
38 50 0 0 50 50 38 49.99
39 50 0 0 50 50 39 49.99
40 50 0 0 50 50 40 49.99
41 50 0 0 50 50 41 50
42 50 0 0 50 50 42 50
43 50 0 0 50 50 43 50
44 50 0 0 50 50 44 50
45 50 0 0 50 50 45 50
46 50 0 0 50 50 46 50
47 50 0 0 50 50 47 50
48 50 0 0 50 50 48 50
49 50 0 0 50 50 49 50
50 50 0 0 50 50 50 50

209.14
 Proportional 0.4
Integral 0.9

SP 50
ABSOLUTE ABSOLUTE
ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT
0 0 0
0 0 0
50 50 20 16 1 0 50 50 20
50 50 36 32 2 0 50 50 38
50 50 52 48 3 0 50 50 56
30 30 60 57.6 4 20 30 30 66
14 14 63.2 62.08 5 38 12 12 69.6
-2 2 61.28 61.44 6 56 -6 6 66.72
-10 10 57.44 58.24 7 66 -16 16 60.56
-13.2 13.2 52.96 54.02 8 69.6 -19.6 19.6 53.36
-11.28 11.28 49.5 50.41 9 66.72 -16.72 16.72 47.46
-7.44 7.44 47.43 48.03 10 60.56 -10.56 10.56 43.9
-2.96 2.96 46.84 47.08 11 53.36 -3.36 3.36 42.98
0.5 0.5 47.28 47.24 12 47.46 2.54 2.54 44.13
2.57 2.57 48.26 48.06 13 43.9 6.1 6.1 46.47
3.16 3.16 49.32 49.07 14 42.98 7.02 7.02 49.03
2.72 2.72 50.16 49.94 15 44.13 5.87 5.87 51.1
1.74 1.74 50.64 50.5 16 46.47 3.53 3.53 52.28
0.68 0.68 50.77 50.71 17 49.03 0.97 0.97 52.52
-0.16 0.16 50.65 50.66 18 51.1 -1.1 1.1 52.04
-0.64 0.64 50.41 50.46 19 52.28 -2.28 2.28 51.18
-0.77 0.77 50.15 50.21 20 52.52 -2.52 2.52 50.26
-0.65 0.65 49.95 50.01 21 52.04 -2.04 2.04 49.54
-0.41 0.41 49.84 49.87 22 51.18 -1.18 1.18 49.15
-0.15 0.15 49.81 49.83 23 50.26 -0.26 0.26 49.1
0.05 0.05 49.84 49.84 24 49.54 0.46 0.46 49.29
0.16 0.16 49.9 49.89 25 49.15 0.85 0.85 49.61
0.19 0.19 49.97 49.95 26 49.1 0.9 0.9 49.94
0.16 0.16 50.01 50 27 49.29 0.71 0.71 50.19
0.1 0.1 50.04 50.03 28 49.61 0.39 0.39 50.31
0.03 0.03 50.05 50.04 29 49.94 0.06 0.06 50.32
-0.01 0.01 50.04 50.04 30 50.19 -0.19 0.19 50.25
-0.04 0.04 50.02 50.03 31 50.31 -0.31 0.31 50.13
-0.05 0.05 50.01 50.01 32 50.32 -0.32 0.32 50.01
-0.04 0.04 50 50 33 50.25 -0.25 0.25 49.93
-0.02 0.02 49.99 49.99 34 50.13 -0.13 0.13 49.88
-0.01 0.01 49.99 49.99 35 50.01 -0.01 0.01 49.89
0 0 49.99 49.99 36 49.93 0.07 0.07 49.92
0.01 0.01 49.99 49.99 37 49.88 0.12 0.12 49.96
0.01 0.01 50 50 38 49.89 0.11 0.11 50
0.01 0.01 50 50 39 49.92 0.08 0.08 50.03
0.01 0.01 50 50 40 49.96 0.04 0.04 50.04
0 0 50 50 41 50 0 0 50.04
0 0 50 50 42 50.03 -0.03 0.03 50.03
0 0 50 50 43 50.04 -0.04 0.04 50.01
0 0 50 50 44 50.04 -0.04 0.04 50
0 0 50 50 45 50.03 -0.03 0.03 49.99
0 0 50 50 46 50.01 -0.01 0.01 49.98
0 0 50 50 47 50 0 0 49.99
0 0 50 50 48 49.99 0.01 0.01 49.99
0 0 50 50 49 49.98 0.02 0.02 50
0 0 50 50 50 49.99 0.01 0.01 50

255.9 304.86
 Proportional 0.4 Proportional
Integral 1 Integral

SP 50 SP
ABSOLUTE
INTEGRAL Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration
0 0 0
0 0 0
18 1 0 50 50 20 20 1
36 2 0 50 50 40 40 2
54 3 0 50 50 60 60 3
64.8 4 20 30 30 72 72 4
69.12 5 40 10 10 76 76 5
66.96 6 60 -10 10 72 72 6
61.2 7 72 -22 22 63.2 63.2 7
54.14 8 76 -26 26 52.8 52.8 8
48.12 9 72 -22 22 44 44 9
44.32 10 63.2 -13.2 13.2 38.72 38.72 10
43.11 11 52.8 -2.8 2.8 37.6 37.6 11
44.03 12 44 6 6 40 40 12
46.23 13 38.72 11.28 11.28 44.51 44.51 13
48.75 14 37.6 12.4 12.4 49.47 49.47 14
50.87 15 40 10 10 53.47 53.47 15
52.14 16 44.51 5.49 5.49 55.67 55.67 16
52.48 17 49.47 0.53 0.53 55.88 55.88 17
52.09 18 53.47 -3.47 3.47 54.49 54.49 18
51.27 19 55.67 -5.67 5.67 52.22 52.22 19
50.36 20 55.88 -5.88 5.88 49.87 49.87 20
49.62 21 54.49 -4.49 4.49 48.08 48.08 21
49.2 22 52.22 -2.22 2.22 47.19 47.19 22
49.11 23 49.87 0.13 0.13 47.24 47.24 23
49.27 24 48.08 1.92 1.92 48.01 48.01 24
49.58 25 47.19 2.81 2.81 49.13 49.13 25
49.9 26 47.24 2.76 2.76 50.24 50.24 26
50.16 27 48.01 1.99 1.99 51.03 51.03 27
50.3 28 49.13 0.87 0.87 51.38 51.38 28
50.32 29 50.24 -0.24 0.24 51.29 51.29 29
50.25 30 51.03 -1.03 1.03 50.87 50.87 30
50.14 31 51.38 -1.38 1.38 50.32 50.32 31
50.02 32 51.29 -1.29 1.29 49.81 49.81 32
49.94 33 50.87 -0.87 0.87 49.46 49.46 33
49.89 34 50.32 -0.32 0.32 49.33 49.33 34
49.89 35 49.81 0.19 0.19 49.41 49.41 35
49.91 36 49.46 0.54 0.54 49.62 49.62 36
49.95 37 49.33 0.67 0.67 49.89 49.89 37
50 38 49.41 0.59 0.59 50.13 50.13 38
50.03 39 49.62 0.38 0.38 50.28 50.28 39
50.04 40 49.89 0.11 0.11 50.32 50.32 40
50.04 41 50.13 -0.13 0.13 50.27 50.27 41
50.03 42 50.28 -0.28 0.28 50.16 50.16 42
50.02 43 50.32 -0.32 0.32 50.03 50.03 43
50 44 50.27 -0.27 0.27 49.92 49.92 44
49.99 45 50.16 -0.16 0.16 49.86 49.86 45
49.99 46 50.03 -0.03 0.03 49.85 49.85 46
49.99 47 49.92 0.08 0.08 49.88 49.88 47
49.99 48 49.86 0.14 0.14 49.93 49.93 48
50 49 49.85 0.15 0.15 50 50 49
50 50 49.88 0.12 0.12 50.04 50.04 50

373.23
 0.4
1.1

50
ABSOLUTE
PV ERROR ERROR OUTPUT INTEGRAL
0 0
0 0
0 50 50 20 22
0 50 50 42 44
0 50 50 64 66
20 30 30 78 79.2
42 8 8 82.4 82.72
64 -14 14 77.12 76.56
78 -28 28 65.36 64.24
82.4 -32.4 32.4 51.28 49.98
77.12 -27.12 27.12 39.14 38.05
65.36 -15.36 15.36 31.91 31.29
51.28 -1.28 1.28 30.78 30.73
39.14 10.86 10.86 35.08 35.51
31.91 18.09 18.09 42.75 43.47
30.78 19.22 19.22 51.16 51.93
35.08 14.92 14.92 57.9 58.49
42.75 7.25 7.25 61.4 61.69
51.16 -1.16 1.16 61.22 61.18
57.9 -7.9 7.9 58.02 57.7
61.4 -11.4 11.4 53.14 52.69
61.22 -11.22 11.22 48.2 47.75
58.02 -8.02 8.02 44.54 44.22
53.14 -3.14 3.14 42.96 42.84
48.2 1.8 1.8 43.56 43.63
44.54 5.46 5.46 45.81 46.03
42.96 7.04 7.04 48.85 49.13
43.56 6.44 6.44 51.7 51.96
45.81 4.19 4.19 53.64 53.8
48.85 1.15 1.15 54.26 54.31
51.7 -1.7 1.7 53.63 53.56
53.64 -3.64 3.64 52.11 51.96
54.26 -4.26 4.26 50.26 50.08
53.63 -3.63 3.63 48.63 48.49
52.11 -2.11 2.11 47.65 47.56
50.26 -0.26 0.26 47.46 47.45
48.63 1.37 1.37 48 48.05
47.65 2.35 2.35 48.99 49.09
47.46 2.54 2.54 50.1 50.2
48 2 2 51.01 51.09
48.99 1.01 1.01 51.49 51.53
50.1 -0.1 0.1 51.49 51.48
51.01 -1.01 1.01 51.08 51.04
51.49 -1.49 1.49 50.45 50.39
51.49 -1.49 1.49 49.79 49.73
51.08 -1.08 1.08 49.3 49.26
50.45 -0.45 0.45 49.08 49.06
49.79 0.21 0.21 49.14 49.15
49.3 0.7 0.7 49.43 49.46
49.08 0.92 0.92 49.83 49.87
49.14 0.86 0.86 50.21 50.24
49.43 0.57 0.57 50.47 50.49

479.17
Proportional 0.2 Proportional 0.2
Integral 0.6 Integral 0.8

SP 50 SP 50
ABSOLUTE
Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration PV
0 0
0 0
1 0 50 50 10 6 1 0
2 0 50 50 16 12 2 0
3 0 50 50 22 18 3 0
4 10 40 40 26 22.8 4 10
5 16 34 34 29.6 26.88 5 18
6 22 28 28 32.48 30.24 6 26
7 26 24 24 35.04 33.12 7 32
8 29.6 20.4 20.4 37.2 35.57 8 36.8
9 32.48 17.52 17.52 39.07 37.67 9 40.32
10 35.04 14.96 14.96 40.66 39.47 10 42.96
11 37.2 12.8 12.8 42.03 41 11 44.88
12 39.07 10.93 10.93 43.19 42.31 12 46.29
13 40.66 9.34 9.34 44.18 43.43 13 47.31
14 42.03 7.97 7.97 45.03 44.39 14 48.05
15 43.19 6.81 6.81 45.75 45.21 15 48.59
16 44.18 5.82 5.82 46.37 45.91 16 48.98
17 45.03 4.97 4.97 46.9 46.5 17 49.26
18 45.75 4.25 4.25 47.35 47.01 18 49.46
19 46.37 3.63 3.63 47.74 47.45 19 49.61
20 46.9 3.1 3.1 48.07 47.82 20 49.72
21 47.35 2.65 2.65 48.35 48.14 21 49.8
22 47.74 2.26 2.26 48.59 48.41 22 49.85
23 48.07 1.93 1.93 48.8 48.64 23 49.89
24 48.35 1.65 1.65 48.97 48.84 24 49.92
25 48.59 1.41 1.41 49.12 49.01 25 49.94
26 48.8 1.2 1.2 49.25 49.15 26 49.96
27 48.97 1.03 1.03 49.36 49.28 27 49.97
28 49.12 0.88 0.88 49.45 49.38 28 49.98
29 49.25 0.75 0.75 49.53 49.47 29 49.98
30 49.36 0.64 0.64 49.6 49.55 30 49.99
31 49.45 0.55 0.55 49.66 49.61 31 49.99
32 49.53 0.47 0.47 49.71 49.67 32 49.99
33 49.6 0.4 0.4 49.75 49.72 33 50
34 49.66 0.34 0.34 49.79 49.76 34 50
35 49.71 0.29 0.29 49.82 49.79 35 50
36 49.75 0.25 0.25 49.84 49.82 36 50
37 49.79 0.21 0.21 49.87 49.85 37 50
38 49.82 0.18 0.18 49.89 49.87 38 50
39 49.84 0.16 0.16 49.9 49.89 39 50
40 49.87 0.13 0.13 49.92 49.91 40 50
41 49.89 0.11 0.11 49.93 49.92 41 50
42 49.9 0.1 0.1 49.94 49.93 42 50
43 49.92 0.08 0.08 49.95 49.94 43 50
44 49.93 0.07 0.07 49.96 49.95 44 50
45 49.94 0.06 0.06 49.96 49.96 45 50
46 49.95 0.05 0.05 49.97 49.96 46 50
47 49.96 0.04 0.04 49.97 49.97 47 50
48 49.96 0.04 0.04 49.98 49.97 48 50
49 49.97 0.03 0.03 49.98 49.98 49 50
50 49.97 0.03 0.03 49.98 49.98 50 50

416.51
 Proportional 0.2
Integral 0.9

SP 50
ABSOLUTE ABSOLUTE
ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT
0 0 0
0 0 0
50 50 10 8 1 0 50 50 10
50 50 18 16 2 0 50 50 19
50 50 26 24 3 0 50 50 28
40 40 32 30.4 4 10 40 40 35
32 32 36.8 35.52 5 19 31 31 40.4
24 24 40.32 39.36 6 28 22 22 44.18
18 18 42.96 42.24 7 35 15 15 46.74
13.2 13.2 44.88 44.35 8 40.4 9.6 9.6 48.36
9.68 9.68 46.29 45.9 9 44.18 5.82 5.82 49.33
7.04 7.04 47.31 47.03 10 46.74 3.26 3.26 49.87
5.12 5.12 48.05 47.85 11 48.36 1.64 1.64 50.13
3.71 3.71 48.59 48.44 12 49.33 0.67 0.67 50.23
2.69 2.69 48.98 48.87 13 49.87 0.13 0.13 50.24
1.95 1.95 49.26 49.18 14 50.13 -0.13 0.13 50.22
1.41 1.41 49.46 49.41 15 50.23 -0.23 0.23 50.17
1.02 1.02 49.61 49.57 16 50.24 -0.24 0.24 50.13
0.74 0.74 49.72 49.69 17 50.22 -0.22 0.22 50.09
0.54 0.54 49.8 49.78 18 50.17 -0.17 0.17 50.06
0.39 0.39 49.85 49.84 19 50.13 -0.13 0.13 50.04
0.28 0.28 49.89 49.88 20 50.09 -0.09 0.09 50.02
0.2 0.2 49.92 49.92 21 50.06 -0.06 0.06 50.01
0.15 0.15 49.94 49.94 22 50.04 -0.04 0.04 50.01
0.11 0.11 49.96 49.96 23 50.02 -0.02 0.02 50
0.08 0.08 49.97 49.97 24 50.01 -0.01 0.01 50
0.06 0.06 49.98 49.98 25 50.01 -0.01 0.01 50
0.04 0.04 49.98 49.98 26 50 0 0 50
0.03 0.03 49.99 49.99 27 50 0 0 50
0.02 0.02 49.99 49.99 28 50 0 0 50
0.02 0.02 49.99 49.99 29 50 0 0 50
0.01 0.01 50 50 30 50 0 0 50
0.01 0.01 50 50 31 50 0 0 50
0.01 0.01 50 50 32 50 0 0 50
0 0 50 50 33 50 0 0 50
0 0 50 50 34 50 0 0 50
0 0 50 50 35 50 0 0 50
0 0 50 50 36 50 0 0 50
0 0 50 50 37 50 0 0 50
0 0 50 50 38 50 0 0 50
0 0 50 50 39 50 0 0 50
0 0 50 50 40 50 0 0 50
0 0 50 50 41 50 0 0 50
0 0 50 50 42 50 0 0 50
0 0 50 50 43 50 0 0 50
0 0 50 50 44 50 0 0 50
0 0 50 50 45 50 0 0 50
0 0 50 50 46 50 0 0 50
0 0 50 50 47 50 0 0 50
0 0 50 50 48 50 0 0 50
0 0 50 50 49 50 0 0 50
0 0 50 50 50 50 0 0 50

312.5 280.48
 Proportional 0.2 Proportional
Integral 1 Integral

SP 50 SP
ABSOLUTE
INTEGRAL Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration
0 0 0
0 0 0
9 1 0 50 50 10 10 1
18 2 0 50 50 20 20 2
27 3 0 50 50 30 30 3
34.2 4 10 40 40 38 38 4
39.78 5 20 30 30 44 44 5
43.74 6 30 20 20 48 48 6
46.44 7 38 12 12 50.4 50.4 7
48.17 8 44 6 6 51.6 51.6 8
49.22 9 48 2 2 52 52 9
49.8 10 50.4 -0.4 0.4 51.92 51.92 10
50.1 11 51.6 -1.6 1.6 51.6 51.6 11
50.22 12 52 -2 2 51.2 51.2 12
50.24 13 51.92 -1.92 1.92 50.82 50.82 13
50.22 14 51.6 -1.6 1.6 50.5 50.5 14
50.18 15 51.2 -1.2 1.2 50.26 50.26 15
50.13 16 50.82 -0.82 0.82 50.09 50.09 16
50.09 17 50.5 -0.5 0.5 49.99 49.99 17
50.06 18 50.26 -0.26 0.26 49.94 49.94 18
50.04 19 50.09 -0.09 0.09 49.92 49.92 19
50.02 20 49.99 0.01 0.01 49.93 49.93 20
50.01 21 49.94 0.06 0.06 49.94 49.94 21
50.01 22 49.92 0.08 0.08 49.95 49.95 22
50 23 49.93 0.07 0.07 49.97 49.97 23
50 24 49.94 0.06 0.06 49.98 49.98 24
50 25 49.95 0.05 0.05 49.99 49.99 25
50 26 49.97 0.03 0.03 50 50 26
50 27 49.98 0.02 0.02 50 50 27
50 28 49.99 0.01 0.01 50 50 28
50 29 50 0 0 50 50 29
50 30 50 0 0 50 50 30
50 31 50 0 0 50 50 31
50 32 50 0 0 50 50 32
50 33 50 0 0 50 50 33
50 34 50 0 0 50 50 34
50 35 50 0 0 50 50 35
50 36 50 0 0 50 50 36
50 37 50 0 0 50 50 37
50 38 50 0 0 50 50 38
50 39 50 0 0 50 50 39
50 40 50 0 0 50 50 40
50 41 50 0 0 50 50 41
50 42 50 0 0 50 50 42
50 43 50 0 0 50 50 43
50 44 50 0 0 50 50 44
50 45 50 0 0 50 50 45
50 46 50 0 0 50 50 46
50 47 50 0 0 50 50 47
50 48 50 0 0 50 50 48
50 49 50 0 0 50 50 49
50 50 50 0 0 50 50 50

270.79
 0.2 Proportional 0.2
1.1 Integral 1.2

50 SP 50
ABSOLUTE ABSOLUTE
PV ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR
0 0
0 0
0 50 50 10 11 1 0 50 50
0 50 50 21 22 2 0 50 50
0 50 50 32 33 3 0 50 50
10 40 40 41 41.8 4 10 40 40
21 29 29 47.6 48.18 5 22 28 28
32 18 18 51.78 52.14 6 34 16 16
41 9 9 53.94 54.12 7 44 6 6
47.6 2.4 2.4 54.6 54.65 8 51.2 -1.2 1.2
51.78 -1.78 1.78 54.29 54.26 9 55.52 -5.52 5.52
53.94 -3.94 3.94 53.47 53.39 10 57.36 -7.36 7.36
54.6 -4.6 4.6 52.47 52.38 11 57.36 -7.36 7.36
54.29 -4.29 4.29 51.52 51.43 12 56.21 -6.21 6.21
53.47 -3.47 3.47 50.74 50.67 13 54.52 -4.52 4.52
52.47 -2.47 2.47 50.18 50.13 14 52.75 -2.75 2.75
51.52 -1.52 1.52 49.82 49.79 15 51.21 -1.21 1.21
50.74 -0.74 0.74 49.64 49.63 16 50.06 -0.06 0.06
50.18 -0.18 0.18 49.59 49.59 17 49.33 0.67 0.67
49.82 0.18 0.18 49.63 49.63 18 48.98 1.02 1.02
49.64 0.36 0.36 49.7 49.71 19 48.92 1.08 1.08
49.59 0.41 0.41 49.79 49.8 20 49.05 0.95 0.95
49.63 0.37 0.37 49.87 49.88 21 49.28 0.72 0.72
49.7 0.3 0.3 49.94 49.95 22 49.54 0.46 0.46
49.79 0.21 0.21 49.99 49.99 23 49.77 0.23 0.23
49.87 0.13 0.13 50.02 50.02 24 49.95 0.05 0.05
49.94 0.06 0.06 50.03 50.03 25 50.07 -0.07 0.07
49.99 0.01 0.01 50.04 50.04 26 50.14 -0.14 0.14
50.02 -0.02 0.02 50.03 50.03 27 50.16 -0.16 0.16
50.03 -0.03 0.03 50.03 50.03 28 50.14 -0.14 0.14
50.04 -0.04 0.04 50.02 50.02 29 50.11 -0.11 0.11
50.03 -0.03 0.03 50.01 50.01 30 50.08 -0.08 0.08
50.03 -0.03 0.03 50 50 31 50.04 -0.04 0.04
50.02 -0.02 0.02 50 50 32 50.01 -0.01 0.01
50.01 -0.01 0.01 50 50 33 49.99 0.01 0.01
50 0 0 50 50 34 49.98 0.02 0.02
50 0 0 50 50 35 49.98 0.02 0.02
50 0 0 50 50 36 49.98 0.02 0.02
50 0 0 50 50 37 49.98 0.02 0.02
50 0 0 50 50 38 49.99 0.01 0.01
50 0 0 50 50 39 49.99 0.01 0.01
50 0 0 50 50 40 50 0 0
50 0 0 50 50 41 50 0 0
50 0 0 50 50 42 50 0 0
50 0 0 50 50 43 50 0 0
50 0 0 50 50 44 50 0 0
50 0 0 50 50 45 50 0 0
50 0 0 50 50 46 50 0 0
50 0 0 50 50 47 50 0 0
50 0 0 50 50 48 50 0 0
50 0 0 50 50 49 50 0 0
50 0 0 50 50 50 50 0 0

273.6 282.25
 Proportional 0.2
Integral 1.4

SP 50
ABSOLUTE ABSOLUTE
OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT INTEGRAL
0 0 0 0
0 0 0 0
10 12 1 0 50 50 10 14
22 24 2 0 50 50 24 28
34 36 3 0 50 50 38 42
44 45.6 4 10 40 40 50 53.2
51.2 52.32 5 24 26 26 58.4 60.48
55.52 56.16 6 38 12 12 62.88 63.84
57.36 57.6 7 50 0 0 63.84 63.84
57.36 57.31 8 58.4 -8.4 8.4 62.16 61.49
56.21 55.99 9 62.88 -12.88 12.88 58.91 57.88
54.52 54.22 10 63.84 -13.84 13.84 55.11 54.01
52.75 52.45 11 62.16 -12.16 12.16 51.57 50.6
51.21 50.96 12 58.91 -8.91 8.91 48.82 48.11
50.06 49.88 13 55.11 -5.11 5.11 47.08 46.67
49.33 49.22 14 51.57 -1.57 1.57 46.36 46.23
48.98 48.93 15 48.82 1.18 1.18 46.47 46.56
48.92 48.92 16 47.08 2.92 2.92 47.15 47.38
49.05 49.08 17 46.36 3.64 3.64 48.11 48.4
49.28 49.32 18 46.47 3.53 3.53 49.11 49.39
49.54 49.58 19 47.15 2.85 2.85 49.96 50.19
49.77 49.81 20 48.11 1.89 1.89 50.57 50.72
49.95 49.98 21 49.11 0.89 0.89 50.9 50.97
50.07 50.09 22 49.96 0.04 0.04 50.98 50.98
50.14 50.15 23 50.57 -0.57 0.57 50.87 50.82
50.16 50.16 24 50.9 -0.9 0.9 50.64 50.57
50.14 50.14 25 50.98 -0.98 0.98 50.37 50.3
50.11 50.11 26 50.87 -0.87 0.87 50.12 50.05
50.08 50.07 27 50.64 -0.64 0.64 49.93 49.87
50.04 50.04 28 50.37 -0.37 0.37 49.8 49.77
50.01 50.01 29 50.12 -0.12 0.12 49.75 49.74
49.99 49.99 30 49.93 0.07 0.07 49.75 49.76
49.98 49.98 31 49.8 0.2 0.2 49.8 49.81
49.98 49.98 32 49.75 0.25 0.25 49.86 49.88
49.98 49.98 33 49.75 0.25 0.25 49.93 49.95
49.98 49.98 34 49.8 0.2 0.2 49.99 50.01
49.99 49.99 35 49.86 0.14 0.14 50.04 50.05
49.99 49.99 36 49.93 0.07 0.07 50.06 50.07
50 50 37 49.99 0.01 0.01 50.07 50.07
50 50 38 50.04 -0.04 0.04 50.06 50.06
50 50 39 50.06 -0.06 0.06 50.05 50.04
50 50 40 50.07 -0.07 0.07 50.03 50.02
50 50 41 50.06 -0.06 0.06 50.01 50
50 50 42 50.05 -0.05 0.05 50 49.99
50 50 43 50.03 -0.03 0.03 49.99 49.98
50 50 44 50.01 -0.01 0.01 49.98 49.98
50 50 45 50 0 0 49.98 49.98
50 50 46 49.99 0.01 0.01 49.99 49.99
50 50 47 49.98 0.02 0.02 49.99 49.99
50 50 48 49.98 0.02 0.02 50 50
50 50 49 49.99 0.01 0.01 50 50
50 50 50 49.99 0.01 0.01 50 50

313.85
Proportional 0.4 Proportional 0.4
Integral 0.6 Integral 0.8

SP 50 SP 50
ABSOLUTE
Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration PV
0 0
0 0
0 0
1 0 50 50 20 12 1 0
2 0 50 50 32 24 2 0
3 0 50 50 44 36 3 0
4 0 50 50 56 48 4 0
5 20 30 30 60 55.2 5 20
6 32 18 18 62.4 59.52 6 36
7 44 6 6 61.92 60.96 7 52
8 56 -6 6 58.56 59.52 8 68
9 60 -10 10 55.52 57.12 9 76
10 62.4 -12.4 12.4 52.16 54.14 10 79.2
11 61.92 -11.92 11.92 49.38 51.28 11 77.28
12 58.56 -8.56 8.56 47.86 49.23 12 70.24
13 55.52 -5.52 5.52 47.02 47.9 13 61.28
14 52.16 -2.16 2.16 47.04 47.39 14 51.68
15 49.38 0.62 0.62 47.64 47.54 15 43.1
16 47.86 2.14 2.14 48.39 48.05 16 37.19
17 47.02 2.98 2.98 49.24 48.76 17 34.3
18 47.04 2.96 2.96 49.95 49.47 18 34.53
19 47.64 2.36 2.36 50.42 50.04 19 37.42
20 48.39 1.61 1.61 50.69 50.43 20 41.99
21 49.24 0.76 0.76 50.73 50.61 21 47.25
22 49.95 0.05 0.05 50.63 50.62 22 52.18
23 50.42 -0.42 0.42 50.45 50.52 23 55.98
24 50.69 -0.69 0.69 50.25 50.36 24 58.17
25 50.73 -0.73 0.73 50.06 50.18 25 58.63
26 50.63 -0.63 0.63 49.93 50.03 26 57.54
27 50.45 -0.45 0.45 49.85 49.92 27 55.32
28 50.25 -0.25 0.25 49.82 49.86 28 52.53
29 50.06 -0.06 0.06 49.84 49.85 29 49.73
30 49.93 0.07 0.07 49.87 49.86 30 47.41
31 49.85 0.15 0.15 49.92 49.9 31 45.88
32 49.82 0.18 0.18 49.97 49.94 32 45.3
33 49.84 0.16 0.16 50.01 49.98 33 45.6
34 49.87 0.13 0.13 50.03 50.01 34 46.62
35 49.92 0.08 0.08 50.04 50.03 35 48.06
36 49.97 0.03 0.03 50.04 50.04 36 49.61
37 50.01 -0.01 0.01 50.03 50.04 37 50.99
38 50.03 -0.03 0.03 50.02 50.03 38 51.99
39 50.04 -0.04 0.04 50.01 50.02 39 52.5
40 50.04 -0.04 0.04 50 50.01 40 52.5
41 50.03 -0.03 0.03 49.99 50 41 52.07
42 50.02 -0.02 0.02 49.99 49.99 42 51.35
43 50.01 -0.01 0.01 49.99 49.99 43 50.51
44 50 0 0 49.99 49.99 44 49.71
45 49.99 0.01 0.01 49.99 49.99 45 49.08
46 49.99 0.01 0.01 50 49.99 46 48.71
47 49.99 0.01 0.01 50 50 47 48.61
48 49.99 0.01 0.01 50 50 48 48.77
49 49.99 0.01 0.01 50 50 49 49.11
50 50 0 0 50 50 50 49.55

328.32
 Proportional 0.4
Integral 0.9

SP 50
ABSOLUTE ABSOLUTE
ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT
0 0 0
0 0 0
0 0 0
50 50 20 16 1 0 50 50 20
50 50 36 32 2 0 50 50 38
50 50 52 48 3 0 50 50 56
50 50 68 64 4 0 50 50 74
30 30 76 73.6 5 20 30 30 84
14 14 79.2 78.08 6 38 12 12 87.6
-2 2 77.28 77.44 7 56 -6 6 84.72
-18 18 70.24 71.68 8 74 -24 24 75.36
-26 26 61.28 63.36 9 84 -34 34 62.72
-29.2 29.2 51.68 54.02 10 87.6 -37.6 37.6 49.04
-27.28 27.28 43.1 45.29 11 84.72 -34.72 34.72 36.66
-20.24 20.24 37.19 38.81 12 75.36 -25.36 25.36 27.9
-11.28 11.28 34.3 35.2 13 62.72 -12.72 12.72 23.83
-1.68 1.68 34.53 34.66 14 49.04 0.96 0.96 24.72
6.9 6.9 37.42 36.87 15 36.66 13.34 13.34 30.02
12.81 12.81 41.99 40.97 16 27.9 22.1 22.1 38.33
15.7 15.7 47.25 45.99 17 23.83 26.17 26.17 47.91
15.47 15.47 52.18 50.94 18 24.72 25.28 25.28 56.98
12.58 12.58 55.98 54.97 19 30.02 19.98 19.98 63.96
8.01 8.01 58.17 57.53 20 38.33 11.67 11.67 67.83
2.75 2.75 58.63 58.41 21 47.91 2.09 2.09 68.2
-2.18 2.18 57.54 57.71 22 56.98 -6.98 6.98 65.32
-5.98 5.98 55.32 55.8 23 63.96 -13.96 13.96 60.02
-8.17 8.17 52.53 53.19 24 67.83 -17.83 17.83 53.45
-8.63 8.63 49.73 50.42 25 68.2 -18.2 18.2 46.88
-7.54 7.54 47.41 48.01 26 65.32 -15.32 15.32 41.48
-5.32 5.32 45.88 46.31 27 60.02 -10.02 10.02 38.09
-2.53 2.53 45.3 45.5 28 53.45 -3.45 3.45 37.11
0.27 0.27 45.6 45.58 29 46.88 3.12 3.12 38.49
2.59 2.59 46.62 46.41 30 41.48 8.52 8.52 41.78
4.12 4.12 48.06 47.73 31 38.09 11.91 11.91 46.2
4.7 4.7 49.61 49.24 32 37.11 12.89 12.89 50.88
4.4 4.4 50.99 50.64 33 38.49 11.51 11.51 54.97
3.38 3.38 51.99 51.72 34 41.78 8.22 8.22 57.8
1.94 1.94 52.5 52.34 35 46.2 3.8 3.8 58.99
0.39 0.39 52.5 52.47 36 50.88 -0.88 0.88 58.48
-0.99 0.99 52.07 52.15 37 54.97 -4.97 4.97 56.53
-1.99 1.99 51.35 51.51 38 57.8 -7.8 7.8 53.61
-2.5 2.5 50.51 50.71 39 58.99 -8.99 8.99 50.33
-2.5 2.5 49.71 49.91 40 58.48 -8.48 8.48 47.29
-2.07 2.07 49.08 49.25 41 56.53 -6.53 6.53 45.02
-1.35 1.35 48.71 48.82 42 53.61 -3.61 3.61 43.84
-0.51 0.51 48.61 48.65 43 50.33 -0.33 0.33 43.85
0.29 0.29 48.77 48.74 44 47.29 2.71 2.71 44.95
0.92 0.92 49.11 49.04 45 45.02 4.98 4.98 46.83
1.29 1.29 49.55 49.45 46 43.84 6.16 6.16 49.1
1.39 1.39 50.01 49.9 47 43.85 6.15 6.15 51.31
1.23 1.23 50.39 50.29 48 44.95 5.05 5.05 53.08
0.89 0.89 50.65 50.57 49 46.83 3.17 3.17 54.15
0.45 0.45 50.75 50.72 50 49.1 0.9 0.9 54.39

534.42 754.44
 Proportional 0.4 Proportional
Integral 1 Integral

SP 50 SP
ABSOLUTE
INTEGRAL Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration
0 0 0
0 0 0
0 0 0
18 1 0 50 50 20 20 1
36 2 0 50 50 40 40 2
54 3 0 50 50 60 60 3
72 4 0 50 50 80 80 4
82.8 5 20 30 30 92 92 5
87.12 6 40 10 10 96 96 6
84.96 7 60 -10 10 92 92 7
76.32 8 80 -30 30 80 80 8
64.08 9 92 -42 42 63.2 63.2 9
50.54 10 96 -46 46 44.8 44.8 10
38.04 11 92 -42 42 28 28 11
28.92 12 80 -30 30 16 16 12
24.34 13 63.2 -13.2 13.2 10.72 10.72 13
24.68 14 44.8 5.2 5.2 12.8 12.8 14
29.49 15 28 22 22 21.6 21.6 15
37.44 16 16 34 34 35.2 35.2 16
46.86 17 10.72 39.28 39.28 50.91 50.91 17
55.96 18 12.8 37.2 37.2 65.79 65.79 18
63.16 19 21.6 28.4 28.4 77.15 77.15 19
67.36 20 35.2 14.8 14.8 83.07 83.07 20
68.11 21 50.91 -0.91 0.91 82.71 82.71 21
65.6 22 65.79 -15.79 15.79 76.39 76.39 22
60.58 23 77.15 -27.15 27.15 65.53 65.53 23
54.16 24 83.07 -33.07 33.07 52.3 52.3 24
47.61 25 82.71 -32.71 32.71 39.22 39.22 25
42.09 26 76.39 -26.39 26.39 28.66 28.66 26
38.49 27 65.53 -15.53 15.53 22.45 22.45 27
37.25 28 52.3 -2.3 2.3 21.53 21.53 28
38.37 29 39.22 10.78 10.78 25.84 25.84 29
41.44 30 28.66 21.34 21.34 34.38 34.38 30
45.72 31 22.45 27.55 27.55 45.4 45.4 31
50.37 32 21.53 28.47 28.47 56.79 56.79 32
54.51 33 25.84 24.16 24.16 66.45 66.45 33
57.47 34 34.38 15.62 15.62 72.7 72.7 34
58.84 35 45.4 4.6 4.6 74.54 74.54 35
58.52 36 56.79 -6.79 6.79 71.82 71.82 36
56.73 37 66.45 -16.45 16.45 65.24 65.24 37
53.92 38 72.7 -22.7 22.7 56.17 56.17 38
50.69 39 74.54 -24.54 24.54 46.35 46.35 39
47.63 40 71.82 -21.82 21.82 37.62 37.62 40
45.28 41 65.24 -15.24 15.24 31.52 31.52 41
43.98 42 56.17 -6.17 6.17 29.06 29.06 42
43.86 43 46.35 3.65 3.65 30.52 30.52 43
44.84 44 37.62 12.38 12.38 35.47 35.47 44
46.63 45 31.52 18.48 18.48 42.86 42.86 45
48.85 46 29.06 20.94 20.94 51.24 51.24 46
51.06 47 30.52 19.48 19.48 59.03 59.03 47
52.88 48 35.47 14.53 14.53 64.84 64.84 48
54.02 49 42.86 7.14 7.14 67.7 67.7 49
54.35 50 51.24 -1.24 1.24 67.2 67.2 50

1132.01
 0.4 Proportional 0.4
1.1 Integral 1.2

50 SP 50
ABSOLUTE ABSOLUTE
PV ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR
0 0
0 0
0 0
0 50 50 20 22 1 0 50 50
0 50 50 42 44 2 0 50 50
0 50 50 64 66 3 0 50 50
0 50 50 86 88 4 0 50 50
20 30 30 100 101.2 5 20 30 30
42 8 8 104.4 104.72 6 44 6 6
64 -14 14 99.12 98.56 7 68 -18 18
86 -36 36 84.16 82.72 8 92 -42 42
100 -50 50 62.72 60.72 9 108 -58 58
104.4 -54.4 54.4 38.96 36.78 10 112.8 -62.8 62.8
99.12 -49.12 49.12 17.14 15.17 11 106.08 -56.08 56.08
84.16 -34.16 34.16 1.51 0.14 12 87.84 -37.84 37.84
62.72 -12.72 12.72 -4.95 -5.46 13 61.28 -11.28 11.28
38.96 11.04 11.04 -1.04 -0.6 14 31.52 18.48 18.48
17.14 32.86 32.86 12.55 13.86 15 4.06 45.94 45.94
1.51 48.49 48.49 33.26 35.2 16 -15.56 65.56 65.56
-4.95 54.95 54.95 57.18 59.38 17 -23.1 73.1 73.1
-1.04 51.04 51.04 79.79 81.83 18 -16.61 66.61 66.61
12.55 37.45 37.45 96.81 98.31 19 3.24 46.76 46.76
33.26 16.74 16.74 105.01 105.68 20 33.14 16.86 16.86
57.18 -7.18 7.18 102.81 102.52 21 67.63 -17.63 17.63
79.79 -29.79 29.79 90.6 89.41 22 100.12 -50.12 50.12
96.81 -46.81 46.81 70.69 68.81 23 124.15 -74.15 74.15
105.01 -55.01 55.01 46.81 44.61 24 134.63 -84.63 84.63
102.81 -52.81 52.81 23.49 21.37 25 128.93 -78.93 78.93
90.6 -40.6 40.6 5.13 3.51 26 107.47 -57.47 57.47
70.69 -20.69 20.69 -4.77 -5.59 27 73.8 -23.8 23.8
46.81 3.19 3.19 -4.32 -4.19 28 34.02 15.98 15.98
23.49 26.51 26.51 6.42 7.48 29 -4.32 54.32 54.32
5.13 44.87 44.87 25.42 27.22 30 -33.63 83.63 83.63
-4.77 54.77 54.77 49.12 51.31 31 -47.75 97.75 97.75
-4.32 54.32 54.32 73.04 75.21 32 -43.26 93.26 93.26
6.42 43.58 43.58 92.65 94.39 33 -20.25 70.25 70.25
25.42 24.58 24.58 104.22 105.2 34 17.55 32.45 32.45
49.12 0.88 0.88 105.56 105.59 35 63.34 -13.34 13.34
73.04 -23.04 23.04 96.37 95.45 36 108.46 -58.46 58.46
92.65 -42.65 42.65 78.39 76.69 37 144.02 -94.02 94.02
104.22 -54.22 54.22 55 52.83 38 162.62 -112.62 112.62
105.56 -55.56 55.56 30.61 28.39 39 159.88 -109.88 109.88
96.37 -46.37 46.37 9.84 7.98 40 135.43 -85.43 85.43
78.39 -28.39 28.39 -3.38 -4.51 41 93.15 -43.15 43.15
55 -5 5 -6.51 -6.71 42 40.58 9.42 9.42
30.61 19.39 19.39 1.05 1.82 43 -12.38 62.38 62.38
 9.84 40.16 40.16 17.89 19.49 44 -55.35 105.35 105.35
-3.38 53.38 53.38 40.84 42.98 45 -79.44 129.44 129.44
-6.51 56.51 56.51 65.58 67.84 46 -79.12 129.12 129.12
1.05 48.95 48.95 87.43 89.38 47 -53.42 103.42 103.42
17.89 32.11 32.11 102.23 103.51 48 -6.29 56.29 56.29
40.84 9.16 9.16 107.18 107.54 49 53.92 -3.92 3.92
65.58 -15.58 15.58 101.31 100.69 50 115.92 -65.92 65.92

1777.04 2871.81
 Proportional 0.4
Integral 1.4

SP 50
ABSOLUTE ABSOLUTE
OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT INTEGRAL
0 0 0 0
0 0 0 0
0 0 0 0
20 24 1 0 50 50 20 28
44 48 2 0 50 50 48 56
68 72 3 0 50 50 76 84
92 96 4 0 50 50 104 112
108 110.4 5 20 30 30 124 128.8
112.8 113.28 6 48 2 2 129.6 129.92
106.08 104.64 7 76 -26 26 119.52 115.36
87.84 84.48 8 104 -54 54 93.76 85.12
61.28 56.64 9 124 -74 74 55.52 43.68
31.52 26.5 10 129.6 -79.6 79.6 11.84 -0.9
4.06 -0.42 11 119.52 -69.52 69.52 -28.7 -39.83
-15.56 -18.59 12 93.76 -43.76 43.76 -57.33 -64.33
-23.1 -24 13 55.52 -5.52 5.52 -66.54 -67.42
-16.61 -15.13 14 11.84 38.16 38.16 -52.16 -46.05
3.24 6.92 15 -28.7 78.7 78.7 -14.57 -1.98
33.14 38.39 16 -57.33 107.33 107.33 40.95 58.13
67.63 73.47 17 -66.54 116.54 116.54 104.74 123.39
100.12 105.45 18 -52.16 102.16 102.16 164.25 180.6
124.15 127.89 19 -14.57 64.57 64.57 206.43 216.76
134.63 135.98 20 40.95 9.05 9.05 220.38 221.83
128.93 127.52 21 104.74 -54.74 54.74 199.93 191.17
107.47 103.46 22 164.25 -114.25 114.25 145.47 127.19
73.8 67.87 23 206.43 -156.43 156.43 64.62 39.59
34.02 27.25 24 220.38 -170.38 170.38 -28.56 -55.82
-4.32 -10.64 25 199.93 -149.93 149.93 -115.79 -139.78
-33.63 -38.22 26 145.47 -95.47 95.47 -177.97 -193.24
-47.75 -49.65 27 64.62 -14.62 14.62 -199.09 -201.43
-43.26 -41.98 28 -28.56 78.56 78.56 -170.01 -157.44
-20.25 -15.9 29 -115.79 165.79 165.79 -91.12 -64.59
17.55 24.24 30 -177.97 227.97 227.97 26.6 63.07
63.34 71.15 31 -199.09 249.09 249.09 162.71 202.56
108.46 115.92 32 -170.01 220.01 220.01 290.56 325.77
144.02 149.64 33 -91.12 141.12 141.12 382.21 404.79
162.62 165.22 34 26.6 23.4 23.4 414.15 417.9
159.88 158.82 35 162.71 -112.71 112.71 372.82 354.78
135.43 130.76 36 290.56 -240.56 240.56 258.56 220.07
93.15 85.63 37 382.21 -332.21 332.21 87.18 34.03
40.58 31.57 38 414.15 -364.15 364.15 -111.63 -169.9
-12.38 -21.17 39 372.82 -322.82 322.82 -299.03 -350.68
-55.35 -62.18 40 258.56 -208.56 208.56 -434.1 -467.47
-79.44 -82.89 41 87.18 -37.18 37.18 -482.34 -488.29
-79.12 -78.37 42 -111.63 161.63 161.63 -423.64 -397.77
-53.42 -48.43 43 -299.03 349.03 349.03 -258.16 -202.32
 -6.29 2.14 44 -434.1 484.1 484.1 -8.68 68.78
53.92 64.27 45 -482.34 532.34 532.34 281.71 366.89
115.92 126.25 46 -423.64 473.64 473.64 556.34 632.12
167.62 175.89 47 -258.16 308.16 308.16 755.39 804.69
198.41 202.91 48 -8.68 58.68 58.68 828.17 837.55
201.34 201.03 49 281.71 -231.71 231.71 744.87 707.8
174.66 169.39 50 556.34 -506.34 506.34 505.26 424.24

7686.5
Proportional 0.2 Proportional 0.2
Integral 0.6 Integral 0.8

SP 50 SP 50
ABSOLUTE
Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration PV
0 0
0 0
0 0
1 0 50 50 10 6 1 0
2 0 50 50 16 12 2 0
3 0 50 50 22 18 3 0
4 0 50 50 28 24 4 0
5 10 40 40 32 28.8 5 10
6 16 34 34 35.6 32.88 6 18
7 22 28 28 38.48 36.24 7 26
8 28 22 22 40.64 38.88 8 34
9 32 18 18 42.48 41.04 9 40
10 35.6 14.4 14.4 43.92 42.77 10 44.8
11 38.48 11.52 11.52 45.07 44.15 11 48.32
12 40.64 9.36 9.36 46.02 45.27 12 50.56
13 42.48 7.52 7.52 46.78 46.18 13 51.92
14 43.92 6.08 6.08 47.39 46.91 14 52.56
15 45.07 4.93 4.93 47.89 47.5 15 52.69
16 46.02 3.98 3.98 48.29 47.97 16 52.51
17 46.78 3.22 3.22 48.62 48.36 17 52.15
18 47.39 2.61 2.61 48.88 48.67 18 51.71
19 47.89 2.11 2.11 49.1 48.93 19 51.28
20 48.29 1.71 1.71 49.27 49.13 20 50.88
21 48.62 1.38 1.38 49.41 49.3 21 50.55
22 48.88 1.12 1.12 49.52 49.43 22 50.3
23 49.1 0.9 0.9 49.61 49.54 23 50.11
24 49.27 0.73 0.73 49.69 49.63 24 49.98
25 49.41 0.59 0.59 49.75 49.7 25 49.91
26 49.52 0.48 0.48 49.79 49.76 26 49.87
27 49.61 0.39 0.39 49.83 49.8 27 49.86
28 49.69 0.31 0.31 49.87 49.84 28 49.87
29 49.75 0.25 0.25 49.89 49.87 29 49.89
30 49.79 0.21 0.21 49.91 49.9 30 49.91
31 49.83 0.17 0.17 49.93 49.92 31 49.93
32 49.87 0.13 0.13 49.94 49.93 32 49.95
33 49.89 0.11 0.11 49.95 49.94 33 49.97
34 49.91 0.09 0.09 49.96 49.96 34 49.98
35 49.93 0.07 0.07 49.97 49.96 35 49.99
36 49.94 0.06 0.06 49.98 49.97 36 50
37 49.95 0.05 0.05 49.98 49.98 37 50
38 49.96 0.04 0.04 49.98 49.98 38 50.01
39 49.97 0.03 0.03 49.99 49.98 39 50.01
40 49.98 0.02 0.02 49.99 49.99 40 50.01
41 49.98 0.02 0.02 49.99 49.99 41 50.01
42 49.98 0.02 0.02 49.99 49.99 42 50
43 49.99 0.01 0.01 49.99 49.99 43 50
44 49.99 0.01 0.01 50 49.99 44 50
45 49.99 0.01 0.01 50 50 45 50
46 49.99 0.01 0.01 50 50 46 50
47 49.99 0.01 0.01 50 50 47 50
48 50 0 0 50 50 48 50
49 50 0 0 50 50 49 50
50 50 0 0 50 50 50 50

416.65
 Proportional 0.2
Integral 0.9

SP 50
ABSOLUTE ABSOLUTE
ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT
0 0 0
0 0 0
0 0 0
50 50 10 8 1 0 50 50 10
50 50 18 16 2 0 50 50 19
50 50 26 24 3 0 50 50 28
50 50 34 32 4 0 50 50 37
40 40 40 38.4 5 10 40 40 44
32 32 44.8 43.52 6 19 31 31 49.4
24 24 48.32 47.36 7 28 22 22 53.18
16 16 50.56 49.92 8 37 13 13 55.34
10 10 51.92 51.52 9 44 6 6 56.28
5.2 5.2 52.56 52.35 10 49.4 0.6 0.6 56.28
1.68 1.68 52.69 52.62 11 53.18 -3.18 3.18 55.63
-0.56 0.56 52.51 52.53 12 55.34 -5.34 5.34 54.63
-1.92 1.92 52.15 52.22 13 56.28 -6.28 6.28 53.48
-2.56 2.56 51.71 51.81 14 56.28 -6.28 6.28 52.35
-2.69 2.69 51.28 51.38 15 55.63 -5.63 5.63 51.35
-2.51 2.51 50.88 50.98 16 54.63 -4.63 4.63 50.53
-2.15 2.15 50.55 50.64 17 53.48 -3.48 3.48 49.93
-1.71 1.71 50.3 50.37 18 52.35 -2.35 2.35 49.53
-1.28 1.28 50.11 50.16 19 51.35 -1.35 1.35 49.31
-0.88 0.88 49.98 50.02 20 50.53 -0.53 0.53 49.23
-0.55 0.55 49.91 49.93 21 49.93 0.07 0.07 49.25
-0.3 0.3 49.87 49.88 22 49.53 0.47 0.47 49.35
-0.11 0.11 49.86 49.87 23 49.31 0.69 0.69 49.47
0.02 0.02 49.87 49.87 24 49.23 0.77 0.77 49.61
0.09 0.09 49.89 49.88 25 49.25 0.75 0.75 49.75
0.13 0.13 49.91 49.9 26 49.35 0.65 0.65 49.86
0.14 0.14 49.93 49.93 27 49.47 0.53 0.53 49.96
0.13 0.13 49.95 49.95 28 49.61 0.39 0.39 50.02
0.11 0.11 49.97 49.96 29 49.75 0.25 0.25 50.07
0.09 0.09 49.98 49.98 30 49.86 0.14 0.14 50.09
0.07 0.07 49.99 49.99 31 49.96 0.04 0.04 50.09
0.05 0.05 50 50 32 50.02 -0.02 0.02 50.09
0.03 0.03 50 50 33 50.07 -0.07 0.07 50.08
0.02 0.02 50.01 50.01 34 50.09 -0.09 0.09 50.06
0.01 0.01 50.01 50.01 35 50.09 -0.09 0.09 50.04
0 0 50.01 50.01 36 50.09 -0.09 0.09 50.03
0 0 50.01 50.01 37 50.08 -0.08 0.08 50.01
-0.01 0.01 50 50.01 38 50.06 -0.06 0.06 50
-0.01 0.01 50 50 39 50.04 -0.04 0.04 50
-0.01 0.01 50 50 40 50.03 -0.03 0.03 49.99
-0.01 0.01 50 50 41 50.01 -0.01 0.01 49.99
0 0 50 50 42 50 0 0 49.99
0 0 50 50 43 50 0 0 49.99
0 0 50 50 44 49.99 0.01 0.01 49.99
0 0 50 50 45 49.99 0.01 0.01 49.99
0 0 50 50 46 49.99 0.01 0.01 50
0 0 50 50 47 49.99 0.01 0.01 50
0 0 50 50 48 49.99 0.01 0.01 50
0 0 50 50 49 49.99 0.01 0.01 50
0 0 50 50 50 50 0 0 50

347.02 357.03
 Proportional 0.2 Proportional
Integral 1 Integral

SP 50 SP
ABSOLUTE
INTEGRAL Iteration PV ERROR ERROR OUTPUT INTEGRAL Iteration
0 0 0
0 0 0
0 0 0
9 1 0 50 50 10 10 1
18 2 0 50 50 20 20 2
27 3 0 50 50 30 30 3
36 4 0 50 50 40 40 4
43.2 5 10 40 40 48 48 5
48.78 6 20 30 30 54 54 6
52.74 7 30 20 20 58 58 7
55.08 8 40 10 10 60 60 8
56.16 9 48 2 2 60.4 60.4 9
56.27 10 54 -4 4 59.6 59.6 10
55.7 11 58 -8 8 58 58 11
54.73 12 60 -10 10 56 56 12
53.6 13 60.4 -10.4 10.4 53.92 53.92 13
52.47 14 59.6 -9.6 9.6 52 52 14
51.46 15 58 -8 8 50.4 50.4 15
50.63 16 56 -6 6 49.2 49.2 16
50 17 53.92 -3.92 3.92 48.42 48.42 17
49.58 18 52 -2 2 48.02 48.02 18
49.34 19 50.4 -0.4 0.4 47.94 47.94 19
49.24 20 49.2 0.8 0.8 48.1 48.1 20
49.25 21 48.42 1.58 1.58 48.41 48.41 21
49.34 22 48.02 1.98 1.98 48.81 48.81 22
49.46 23 47.94 2.06 2.06 49.22 49.22 23
49.6 24 48.1 1.9 1.9 49.6 49.6 24
49.73 25 48.41 1.59 1.59 49.92 49.92 25
49.85 26 48.81 1.19 1.19 50.16 50.16 26
49.95 27 49.22 0.78 0.78 50.31 50.31 27
50.02 28 49.6 0.4 0.4 50.39 50.39 28
50.06 29 49.92 0.08 0.08 50.41 50.41 29
50.09 30 50.16 -0.16 0.16 50.38 50.38 30
50.09 31 50.31 -0.31 0.31 50.31 50.31 31
50.09 32 50.39 -0.39 0.39 50.24 50.24 32
50.08 33 50.41 -0.41 0.41 50.15 50.15 33
50.06 34 50.38 -0.38 0.38 50.08 50.08 34
50.04 35 50.31 -0.31 0.31 50.02 50.02 35
50.03 36 50.24 -0.24 0.24 49.97 49.97 36
50.01 37 50.15 -0.15 0.15 49.94 49.94 37
50 38 50.08 -0.08 0.08 49.92 49.92 38
50 39 50.02 -0.02 0.02 49.92 49.92 39
49.99 40 49.97 0.03 0.03 49.93 49.93 40
49.99 41 49.94 0.06 0.06 49.94 49.94 41
49.99 42 49.92 0.08 0.08 49.95 49.95 42
49.99 43 49.92 0.08 0.08 49.97 49.97 43
49.99 44 49.93 0.07 0.07 49.98 49.98 44
49.99 45 49.94 0.06 0.06 50 50 45
50 46 49.95 0.05 0.05 50.01 50.01 46
50 47 49.97 0.03 0.03 50.01 50.01 47
50 48 49.98 0.02 0.02 50.02 50.02 48
50 49 50 0 0 50.02 50.02 49
50 50 50.01 -0.01 0.01 50.01 50.01 50

379.63
 0.2 Proportional 0.2
1.1 Integral 1.2

50 SP 50
ABSOLUTE ABSOLUTE
PV ERROR ERROR OUTPUT INTEGRAL Iteration PV ERROR ERROR
0 0
0 0
0 0
0 50 50 10 11 1 0 50 50
0 50 50 21 22 2 0 50 50
0 50 50 32 33 3 0 50 50
0 50 50 43 44 4 0 50 50
10 40 40 52 52.8 5 10 40 40
21 29 29 58.6 59.18 6 22 28 28
32 18 18 62.78 63.14 7 34 16 16
43 7 7 64.54 64.68 8 46 4 4
52 -2 2 64.28 64.24 9 56 -6 6
58.6 -8.6 8.6 62.52 62.35 10 63.2 -13.2 13.2
62.78 -12.78 12.78 59.79 59.54 11 67.52 -17.52 17.52
64.54 -14.54 14.54 56.63 56.34 12 68.96 -18.96 18.96
64.28 -14.28 14.28 53.48 53.2 13 67.92 -17.92 17.92
62.52 -12.52 12.52 50.69 50.44 14 65.04 -15.04 15.04
59.79 -9.79 9.79 48.48 48.29 15 61.01 -11.01 11.01
56.63 -6.63 6.63 46.96 46.83 16 56.52 -6.52 6.52
53.48 -3.48 3.48 46.13 46.06 17 52.17 -2.17 2.17
50.69 -0.69 0.69 45.92 45.91 18 48.45 1.55 1.55
48.48 1.52 1.52 46.21 46.24 19 45.64 4.36 4.36
46.96 3.04 3.04 46.85 46.91 20 43.9 6.1 6.1
46.13 3.87 3.87 47.69 47.76 21 43.21 6.79 6.79
45.92 4.08 4.08 48.58 48.66 22 43.43 6.57 6.57
46.21 3.79 3.79 49.42 49.49 23 44.36 5.64 5.64
46.85 3.15 3.15 50.12 50.19 24 45.76 4.24 4.24
47.69 2.31 2.31 50.65 50.69 25 47.36 2.64 2.64
48.58 1.42 1.42 50.98 51.01 26 48.95 1.05 1.05
49.42 0.58 0.58 51.12 51.14 27 50.34 -0.34 0.34
50.12 -0.12 0.12 51.11 51.11 28 51.41 -1.41 1.41
50.65 -0.65 0.65 50.98 50.97 29 52.11 -2.11 2.11
50.98 -0.98 0.98 50.77 50.75 30 52.42 -2.42 2.42
51.12 -1.12 1.12 50.53 50.5 31 52.4 -2.4 2.4
51.11 -1.11 1.11 50.28 50.26 32 52.1 -2.1 2.1
50.98 -0.98 0.98 50.06 50.04 33 51.63 -1.63 1.63
50.77 -0.77 0.77 49.89 49.87 34 51.06 -1.06 1.06
50.53 -0.53 0.53 49.77 49.76 35 50.48 -0.48 0.48
50.28 -0.28 0.28 49.7 49.7 36 49.96 0.04 0.04
50.06 -0.06 0.06 49.68 49.68 37 49.55 0.45 0.45
49.89 0.11 0.11 49.7 49.71 38 49.28 0.72 0.72
49.77 0.23 0.23 49.75 49.76 39 49.14 0.86 0.86
49.7 0.3 0.3 49.82 49.82 40 49.13 0.87 0.87
49.68 0.32 0.32 49.89 49.89 41 49.22 0.78 0.78
49.7 0.3 0.3 49.95 49.96 42 49.38 0.62 0.62
49.75 0.25 0.25 50.01 50.01 43 49.58 0.42 0.42
49.82 0.18 0.18 50.05 50.05 44 49.79 0.21 0.21
49.89 0.11 0.11 50.07 50.08 45 49.98 0.02 0.02
49.95 0.05 0.05 50.09 50.09 46 50.14 -0.14 0.14
50.01 -0.01 0.01 50.09 50.09 47 50.25 -0.25 0.25
50.05 -0.05 0.05 50.08 50.08 48 50.3 -0.3 0.3
50.07 -0.07 0.07 50.06 50.06 49 50.32 -0.32 0.32
50.09 -0.09 0.09 50.04 50.04 50 50.29 -0.29 0.29

411.72 455.5
 Proportional 0.2
Integral 1.4

SP 50
ABSOLUTE ABSOLUTE
OUTPUT INTEGRAL Iteration PV ERROR ERROR OUTPUT INTEGRAL
0 0 0 0
0 0 0 0
0 0 0 0
10 12 1 0 50 50 10 14
22 24 2 0 50 50 24 28
34 36 3 0 50 50 38 42
46 48 4 0 50 50 52 56
56 57.6 5 10 40 40 64 67.2
63.2 64.32 6 24 26 26 72.4 74.48
67.52 68.16 7 38 12 12 76.88 77.84
68.96 69.12 8 52 -2 2 77.44 77.28
67.92 67.68 9 64 -14 14 74.48 73.36
65.04 64.51 10 72.4 -22.4 22.4 68.88 67.09
61.01 60.31 11 76.88 -26.88 26.88 61.71 59.56
56.52 55.76 12 77.44 -27.44 27.44 54.07 51.88
52.17 51.46 13 74.48 -24.48 24.48 46.98 45.02
48.45 47.85 14 68.88 -18.88 18.88 41.25 39.74
45.64 45.2 15 61.71 -11.71 11.71 37.4 36.46
43.9 43.64 16 54.07 -4.07 4.07 35.64 35.32
43.21 43.12 17 46.98 3.02 3.02 35.92 36.16
43.43 43.49 18 41.25 8.75 8.75 37.91 38.61
44.36 44.54 19 37.4 12.6 12.6 41.13 42.14
45.76 46 20 35.64 14.36 14.36 45.01 46.16
47.36 47.63 21 35.92 14.08 14.08 48.98 50.1
48.95 49.21 22 37.91 12.09 12.09 52.52 53.49
50.34 50.56 23 41.13 8.87 8.87 55.26 55.97
51.41 51.58 24 45.01 4.99 4.99 56.97 57.37
52.11 52.21 25 48.98 1.02 1.02 57.57 57.65
52.42 52.47 26 52.52 -2.52 2.52 57.15 56.95
52.4 52.39 27 55.26 -5.26 5.26 55.9 55.47
52.1 52.05 28 56.97 -6.97 6.97 54.08 53.52
51.63 51.54 29 57.57 -7.57 7.57 52.01 51.4
51.06 50.96 30 57.15 -7.15 7.15 49.97 49.4
50.48 50.38 31 55.9 -5.9 5.9 48.22 47.75
49.96 49.88 32 54.08 -4.08 4.08 46.93 46.61
49.55 49.49 33 52.01 -2.01 2.01 46.21 46.05
49.28 49.24 34 49.97 0.03 0.03 46.05 46.05
49.14 49.12 35 48.22 1.78 1.78 46.41 46.55
49.13 49.13 36 46.93 3.07 3.07 47.16 47.41
49.22 49.24 37 46.21 3.79 3.79 48.17 48.47
49.38 49.41 38 46.05 3.95 3.95 49.26 49.58
49.58 49.62 39 46.41 3.59 3.59 50.3 50.58
49.79 49.83 40 47.16 2.84 2.84 51.15 51.38
49.98 50.01 41 48.17 1.83 1.83 51.74 51.89
50.14 50.16 42 49.26 0.74 0.74 52.04 52.1
50.25 50.26 43 50.3 -0.3 0.3 52.04 52.01
 50.3 50.31 44 51.15 -1.15 1.15 51.78 51.69
50.32 50.32 45 51.74 -1.74 1.74 51.34 51.2
50.29 50.28 46 52.04 -2.04 2.04 50.8 50.63
50.23 50.23 47 52.04 -2.04 2.04 50.23 50.06
50.16 50.15 48 51.78 -1.78 1.78 49.71 49.56
50.09 50.08 49 51.34 -1.34 1.34 49.29 49.19
50.02 50.01 50 50.8 -0.8 0.8 49.03 48.96

583.89
 DEADTIME = 0, PROPORTIONAL=.4
52.5
50
47.5
45
42.5
40
37.5
35
CONTROLLER OUTPUT

32.5
Column B
30
Column I
27.5
Column P
25
Column W
22.5
Column AD
20 Column AK
17.5 Column AR
15
12.5
10
7.5
5
2.5
0
R RR R RR RR RR RR RR RR RR RR RR RR RR R RR RR RR RR RR RR RR RR RR RR R RR
o oo o oo oo oo oo oo oo oo oo oo oo oo o oo oo oo oo oo oo oo oo oo oo o oo
w ww w ww ww ww ww ww ww ww ww ww ww ww w ww ww ww ww ww ww ww ww ww ww w ww
CONTROLLER ITERATION
Column B
Column I
Column P
Column W
Column AD
Column AK
Column AR
 DEADTIME = 1, PROPORTIONAL=.4
75

70

65

60

55

50
CONTROLLER OUTPUT

45 Column B
40 Column I
Column P
35 Column W
30 Column AD
Column AK
25 Column AR
20

15

10

0
RR R R R RR R R R RR R R R RR R R R R RR R R R RR R R R RR R R R RR R R R RR R R R RR R R
oo o o o oo o o o oo o o o oo o o o o oo o o o oo o o o oo o o o oo o o o oo o o o oo o o
ww w w w ww w w w ww w w w ww w w w w ww w w w ww w w w ww w w w ww w w w ww w w w ww w w
CONTROLLER ITERATION
Column B
Column I
Column P
Column W
Column AD
Column AK
Column AR
 DEADTIME = 2, PROPORTIONAL=.4
85
80
75
70
65
60
CONTROLLER OUTPUT

55
50
Column B
45
Column I
40 Column P
35 Column W
30 Column AD

25
20
15
10
5
0
RR R R R RR R R R RR R R R RR R R R R RR R R R RR R R R RR R R R RR R R R RR R R R RR R R
oo o o o oo o o o oo o o o oo o o o o oo o o o oo o o o oo o o o oo o o o oo o o o oo o o
ww w w w ww w w w ww w w w ww w w w w ww w w w ww w w w ww w w w ww w w w ww w w w ww w w
CONTROLLER ITERATION
Column B
Column I
Column P
Column W
Column AD
 DEADTIME = 2, PROPORTIONAL=.2
65
62.5
60
57.5
55
52.5
50
47.5
45
CONTROLLER OUTPUT

42.5
40
Column B
37.5
35 Column I
32.5 Column P
30 Column W
27.5 Column AD
25
Column AK
22.5
20 Column AR
17.5
15
12.5
10
7.5
5
2.5
0
R RR R RR RR RR RR RR RR RR RR RR RR RR R RR RR RR RR RR RR RR RR RR RR R RR
o oo o oo oo oo oo oo oo oo oo oo oo oo o oo oo oo oo oo oo oo oo oo oo o oo
w ww w ww ww ww ww ww ww ww ww ww ww ww w ww ww ww ww ww ww ww ww ww ww w ww
CONTROLLER ITERATION
Column B
Column I
Column P
Column W
Column AD
Column AK
Column AR
 DEADTIME = 3, PROPORTIONAL=.4
600
550
500
450
400
350
300
250
CONTROLLER OUTPUT

200
150 Column B
100 Column I
50 Column P
0 Column W
-50 Column AD
-100 Column AK
-150 Column AR
-200
-250
-300
-350
-400
-450
-500
R RR RR RR RR RR RR RR RR RR RR RR RR RR RR RR RR RR RR R RR RR RR RR RR RR
o oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo oo o oo oo oo oo oo oo
w ww ww ww ww ww ww ww ww ww ww ww ww ww ww ww ww ww ww w ww ww ww ww ww ww
CONTROLLER ITERATION
Column B
Column I
Column P
Column W
Column AD
Column AK
Column AR
 DEADTIME = 3, PROPORTIONAL=.2
80

75

70

65

60

55
CONTROLLER OUTPUT

50
Column B
45 Column I
40 Column P
Column W
35
Column AD
30 Column AK
25 Column AR

20

15

10

0
RR R R R RR R R R RR R R R RR R R R R RR R R R RR R R R RR R R R RR R R R RR R R R RR R R
oo o o o oo o o o oo o o o oo o o o o oo o o o oo o o o oo o o o oo o o o oo o o o oo o o
ww w w w ww w w w ww w w w ww w w w w ww w w w ww w w w ww w w w ww w w w ww w w w ww w w
CONTROLLER ITERATION
Column B
Column I
Column P
Column W
Column AD
Column AK
Column AR