Tempo MV PV kp Ki (por minuto) kd

0 50 27.1 24.59 0.67 22.5

15 50 26.7 PV x Tempo
30 50 27.1 38
45 50 27.5
36
60 50 28.3
75 50 29.1 X0 Mu 34
90 50 30 50 9.8

PV(°C)
32
105 50 30.6 τdead τ
120 50 31.6 45 180 30
135 50 32 ti N 28
150 50 32.4 90 0.054
165 50 32.9 PB 26
0 100 200 300 400
180 50 33.1 4.07
Tempo(s)
195 50 33.5
210 50 33.6
225 50 34
240 50 34.1
255 50 34.3
270 50 34.6
285 50 34.7
300 50 34.9
315 50 35
330 50 35.2
345 50 35.2
360 50 35.2
375 50 35.3
390 50 35.5
405 50 35.5
420 50 35.6
435 50 35.6
450 50 35.7
465 50 35.7
480 50 35.8
495 50 36
510 50 36.1
525 50 36.1
540 50 36.3
555 50 36.3
570 50 36.4
585 50 36.4
600 50 36.5
615 50 36.5
630 50 36.5
645 50 36.6
660 50 36.6
675 50 36.7
690 50 36.8
705 50 36.8
720 50 36.8
735 50 36.8
750 50 36.8
 PV x Tempo MV x Tempo
60

50

40

MV(°C)
30

20

10

0
0 300 400 500 600 700 800 0 100 200 300 400 500 600 700

Tempo(s) Tempo(s)
o

500 600 700 800

)