0 0 0

5 -0.6160598 -0.6160598
10 0.40443356 0.40443356
15 1.99453425 1.99453425 Chart Title
20 3.73409107 3.73409107
35
25 5.4606108 5.4606108
30 7.11404852 7.11404852 30
35 8.67491371 8.67491371
25
40 10.1396004 10.1396004
45 11.5105651 11.5105651 20

50 12.7924268 12.7924268 15
55 13.9904279 13.9904279
10
60 15.1098358 15.1098358
65 16.1557193 16.1557193 5
70 17.1328729 17.1328729 0
75 18.0457992 18.0457992 0 100 200 300 400 500 600 700 800
80 18.8987142 18.8987142 -5

85 19.6955607 19.6955607
90 20.4400236 20.4400236
95 21.135546 21.135546
100 21.7853453 21.7853453
105 22.3924271 22.3924271
110 22.9595996 22.9595996
115 23.4894865 23.4894865
120 23.9845389 23.9845389
125 24.4470468 24.4470468
130 24.8791496 24.8791496
135 25.2828462 25.2828462
140 25.660004 25.660004
145 26.0123676 26.0123676
150 26.341567 26.341567
155 26.649125 26.649125
160 26.9364642 26.9364642
165 27.2049139 27.2049139
170 27.4557159 27.4557159
175 27.6900302 27.6900302
180 27.9089409 27.9089409
185 28.1134604 28.1134604
190 28.3045349 28.3045349
195 28.4830483 28.4830483
200 28.6498263 28.6498263
205 28.8056404 28.8056404
210 28.9512114 28.9512114
215 29.0872126 29.0872126
220 29.2142731 29.2142731
225 29.3329807 29.3329807
230 29.4438846 29.4438846
235 29.5474977 29.5474977
240 29.6442993 29.6442993
245 29.7347372 29.7347372
250 29.8192297 29.8192297
255 29.8981678 29.8981678
260 29.9719165 29.9719165
265 30.040817 30.040817
270 30.1051881 30.1051881
275 30.1653274 30.1653274
280 30.2215131 30.2215131
285 30.2740053 30.2740053
290 30.3230466 30.3230466
295 30.368864 30.368864
300 30.4116694 30.4116694
305 30.4516608 30.4516608
310 30.4890231 30.4890231
315 30.5239293 30.5239293
320 30.5565407 30.5565407
325 30.5870083 30.5870083
330 30.615473 30.615473
335 30.6420664 30.6420664
340 30.6669116 30.6669116
345 30.6901234 30.6901234
350 30.7118094 30.7118094
355 30.7320697 30.7320697
360 30.7509981 30.7509981
365 30.7686821 30.7686821
370 30.7852037 30.7852037
375 30.8006391 30.8006391
380 30.8150597 30.8150597
385 30.8285324 30.8285324
390 30.8411194 30.8411194
395 30.8528789 30.8528789
400 30.8638654 30.8638654
405 30.8741296 30.8741296
410 30.8837191 30.8837191
415 30.8926781 30.8926781
420 30.9010482 30.9010482
425 30.908868 30.908868
430 30.9161738 30.9161738
435 30.9229993 30.9229993
440 30.9293761 30.9293761
445 30.9353336 30.9353336
450 30.9408996 30.9408996
455 30.9460996 30.9460996
460 30.9509578 30.9509578
465 30.9554966 30.9554966
470 30.959737 30.959737
475 30.9636987 30.9636987
480 30.9673999 30.9673999
485 30.9708578 30.9708578
490 30.9740884 30.9740884
495 30.9771066 30.9771066
500 30.9799264 30.9799264
505 30.9825608 30.9825608
510 30.985022 30.985022
515 30.9873215 30.9873215
520 30.9894697 30.9894697
525 30.9914768 30.9914768
530 30.9933519 30.9933519
535 30.9951037 30.9951037
540 30.9967404 30.9967404
545 30.9982695 30.9982695
550 30.999698 30.999698
555 31.0010327 31.0010327
560 31.0022796 31.0022796
565 31.0034445 31.0034445
570 31.0045328 31.0045328
575 31.0055497 31.0055497
580 31.0064996 31.0064996
585 31.0073871 31.0073871
590 31.0082163 31.0082163
595 31.0089909 31.0089909
600 31.0097147 31.0097147
605 31.0103908 31.0103908
610 31.0110225 31.0110225
615 31.0116127 31.0116127
620 31.0121641 31.0121641
625 31.0126792 31.0126792
630 31.0131605 31.0131605
635 31.0136101 31.0136101
640 31.0140302 31.0140302
645 31.0144226 31.0144226
650 31.0147893 31.0147893
655 31.0151318 31.0151318
660 31.0154519 31.0154519
665 31.0157509 31.0157509
670 31.0160302 31.0160302
675 31.0162912 31.0162912
680 31.016535 31.016535
685 31.0167628 31.0167628
690 31.0169756 31.0169756
695 31.0171744 31.0171744
700 31.0173602 31.0173602
705 31.0175337 31.0175337
710 31.0176958 31.0176958
715 31.0178473 31.0178473
720 31.0179888 31.0179888
725 31.018121 31.018121
730 31.0182446 31.0182446
735 31.01836 31.01836
740 31.0184678 31.0184678
745 31.0185685 31.0185685
750 31.0186626 31.0186626
755 31.0187505 31.0187505
760 31.0188327 31.0188327
765 31.0189094 31.0189094
770 31.0189811 31.0189811
775 31.0190481 31.0190481
780 31.0191107 31.0191107
785 31.0191691 31.0191691
790 31.0192238 31.0192238
795 31.0192748 31.0192748
800 31.0193225 31.0193225
805 31.019367 31.019367
810 31.0194086 31.0194086
815 31.0194475 31.0194475
820 31.0194838 31.0194838
825 31.0195177 31.0195177
830 31.0195494 31.0195494
835 31.0195791 31.0195791
840 31.0196067 31.0196067
845 31.0196326 31.0196326
850 31.0196567 31.0196567
855 31.0196793 31.0196793
860 31.0197004 31.0197004
865 31.0197201 31.0197201
870 31.0197385 31.0197385
875 31.0197557 31.0197557
 880 31.0197717 31.0197717
885 31.0197867 31.0197867
890 31.0198008 31.0198008
895 31.0198139 31.0198139
900 31.0198261 31.0198261
905 31.0198375 31.0198375
910 31.0198482 31.0198482
915 31.0198582 31.0198582
920 31.0198675 31.0198675
925 31.0198762 31.0198762
930 31.0198844 31.0198844
935 31.019892 31.019892
940 31.0198991 31.0198991
945 31.0199057 31.0199057
950 31.0199119 31.0199119
955 31.0199177 31.0199177
960 31.0199231 31.0199231
965 31.0199282 31.0199282
970 31.0199329 31.0199329
975 31.0199373 31.0199373
980 31.0199414 31.0199414
985 31.0199453 31.0199453
990 31.0199489 31.0199489
995 31.0199522 31.0199522
1000 31.0199554 31.0199554
1005 31.0199583 31.0199583
1010 31.019961 31.019961
1015 31.0199636 31.0199636
1020 31.019966 31.019966
1025 31.0199682 31.0199682
1030 31.0199703 31.0199703
1035 31.0199723 31.0199723
1040 31.0199741 31.0199741
1045 31.0199758 31.0199758
1050 31.0199774 31.0199774
1055 31.0199789 31.0199789
1060 31.0199803 31.0199803
1065 31.0199816 31.0199816
1070 31.0199828 31.0199828
1075 31.0199839 31.0199839
1080 31.019985 31.019985
1085 31.019986 31.019986
1090 31.0199869 31.0199869
1095 31.0199877 31.0199877
1100 31.0199885 31.0199885
1105 31.0199893 31.0199893
1110 31.01999 31.01999
1115 31.0199907 31.0199907
1120 31.0199913 31.0199913
1125 31.0199918 31.0199918
1130 31.0199924 31.0199924
1135 31.0199929 31.0199929
1140 23.319995 23.319995
1145 23.3199953 23.3199953
1150 23.3199956 23.3199956
1155 23.3199959 23.3199959
1160 23.3199962 23.3199962
1165 23.3199964 23.3199964
1170 23.3199967 23.3199967
1175 23.3199969 23.3199969
1180 23.3199971 23.3199971
1185 23.3199973 23.3199973
1190 23.3199975 23.3199975
1195 23.3199976 23.3199976
1200 23.3199978 23.3199978
1205 23.3199979 23.3199979
1210 23.3199981 23.3199981
1215 23.3199982 23.3199982
1220 23.3199983 23.3199983
1225 23.3199984 23.3199984
1230 23.3199985 23.3199985
1235 23.3199986 23.3199986
1240 23.3199987 23.3199987
1245 23.3199988 23.3199988
1250 23.3199989 23.3199989
1255 23.319999 23.319999
1260 23.319999 23.319999
1265 23.3199991 23.3199991
1270 23.3199991 23.3199991
1275 23.3199992 23.3199992
1280 23.3199993 23.3199993
1285 23.3199993 23.3199993
1290 23.3199994 23.3199994
1295 23.3199994 23.3199994
1300 23.3199994 23.3199994
1305 23.3199995 23.3199995
1310 23.3199995 23.3199995
1315 23.3199995 23.3199995
1320 23.3199996 23.3199996
1325 23.3199996 23.3199996
1330 23.3199996 23.3199996
1335 23.3199996 23.3199996
1340 23.3199997 23.3199997
1345 23.3199997 23.3199997
1350 23.3199997 23.3199997
1355 23.3199997 23.3199997
1360 23.3199997 23.3199997
1365 23.3199998 23.3199998
1370 23.3199998 23.3199998
1375 23.3199998 23.3199998
1380 23.3199998 23.3199998
1385 23.3199998 23.3199998
1390 23.3199998 23.3199998
1395 23.3199998 23.3199998
1400 23.3199999 23.3199999
1405 23.3199999 23.3199999
1410 23.3199999
1415 23.3199999
1420 23.3199999
1425 23.3199999
1430 23.3199999
1435 23.3199999
1440 23.3199999
1445 23.3199999
1450 23.3199999
1455 23.3199999
1460 23.3199999
1465 23.3199999
1470 23.3199999
1475 23.3199999
1480 23.32
1485 23.32
1490 23.32
1495 23.32
1500 23.32
1505 23.32
1510 23.32
1515 23.32
1520 23.32
1525 23.32
1530 23.32
1535 23.32
1540 23.32
1545 23.32
1550 23.32
1555 23.32
1560 23.32
1565 23.32
1570 23.32
1575 23.32
1580 23.32
1585 23.32
1590 23.32
1595 23.32
1600 23.32
1605 23.32
1610 23.32
1615 23.32
1620 23.32
1625 23.32
1630 23.32
1635 23.32
1640 23.32
1645 23.32
1650 23.32
1655 23.32
1660 23.32
1665 23.32
1670 23.32
1675 23.32
1680 23.32
1685 23.32
1690 23.32
1695 23.32
1700 23.32
1705 23.32
1710 23.32
1715 23.32
1720 23.32
1725 23.32
1730 23.32
1735 23.32
1740 23.32
1745 23.32
1750 23.32
1755 23.32
1760 23.32
1765 23.32
1770 23.32
1775 23.32
1780 23.32
1785 23.32
1790 23.32
1795 23.32
1800 23.32
1805 23.32
1810 23.32
1815 23.32
1820 23.32
1825 23.32
1830 23.32
1835 23.32
1840 23.32
1845 23.32
1850 23.32
1855 23.32
1860 23.32
1865 23.32
1870 23.32
1875 23.32
1880 23.32
1885 23.32
1890 23.32
1895 23.32
1900 23.32
1905 23.32
1910 23.32
1915 23.32
1920 23.32
1925 23.32
1930 23.32
1935 23.32
1940 23.32
1945 23.32
1950 23.32
1955 23.32
1960 23.32
1965 23.32
1970 23.32
1975 23.32
1980 23.32
1985 23.32
1990 23.32
1995 23.32
2000 23.32
2005 23.32
2010 23.32
2015 23.32
2020 23.32
2025 23.32
2030 23.32
2035 23.32
2040 23.32
2045 23.32
2050 23.32
2055 23.32
2060 23.32
2065 23.32
2070 23.32
2075 23.32
2080 23.32
2085 23.32
2090 23.32
2095 23.32
2100 23.32
2105 23.32
2110 23.32
2115 23.32
2120 23.32
2125 23.32
2130 23.32
2135 23.32
2140 23.32
2145 23.32
2150 23.32
2155 23.32
2160 23.32
2165 23.32
2170 23.32
2175 23.32
2180 23.32
2185 23.32
2190 23.32
2195 23.32
2200 23.32
2205 23.32
2210 23.32
2215 23.32
2220 23.32
2225 23.32
2230 23.32
2235 23.32
2240 23.32
2245 23.32
2250 23.32
2255 23.32
2260 23.32
2265 23.32
2270 23.32
2275 23.32
2280 23.32
2285 23.32
2290 23.32
2295 23.32
2300 23.32
2305 23.32
2310 23.32
2315 23.32
2320 23.32
2325 23.32
2330 23.32
2335 23.32
2340 23.32
2345 23.32
2350 23.32
2355 23.32
2360 23.32
2365 23.32
2370 23.32
2375 23.32
2380 23.32
2385 23.32
2390 23.32
2395 23.32
2400 23.32
2405 23.32
2410 23.32
2415 23.32
2420 23.32
2425 23.32
2430 23.32
2435 23.32
2440 23.32
2445 23.32
2450 23.32
2455 23.32
2460 23.32
2465 23.32
2470 23.32
2475 23.32
2480 23.32
2485 23.32
2490 23.32
2495 23.32
2500 23.32
2505 23.32
2510 23.32
2515 23.32
2520 23.32
2525 23.32
2530
2535
2540
2545
2550
2555
2560
2565
2570
2575
2580
2585
2590
2595
2600
2605
2610
2615
2620
2625
2630
2635
2640
2645
2650
2655
2660
2665
2670
2675
2680
2685
2690
2695
2700
2705
2710
2715
2720
2725
2730
2735
2740
2745
2750
2755
2760
2765
2770
2775
2780
2785
2790
2795
2800
2805
2810
2815
2820
2825
2830
2835
2840
2845
2850
2855
2860
2865
2870
2875
2880
2885
2890
2895
2900
2905
2910
2915
2920
2925
2930
2935
2940
2945
2950
2955
2960
2965
2970
2975
2980
2985
2990
2995
3000
3005
3010
3015
3020
3025
3030
3035
3040
3045
3050
3055
3060
3065
3070
 Chart Title

00 500 600 700 800 900 1000

 Kp Tp
1 73.45 0.6007 29.3307
2 0.7505 18.3240
3 0.8186 13.3240
2.5 0.7899 15.4291
60
A= 50
50

0 0 0 0 0 5040
10 8.68 15.78 21.61 18.84 50
20 14.85 24.93 31.81 28.69 5030
30 19.23 30.23 36.62 33.85 50
20
40 22.35 33.30 38.90 36.54 50
50 24.57 35.08 39.97 37.95 5010
60 26.15 36.11 40.48 38.69 50
70 27.27 36.70 40.72 39.07 50 0
0 50 100
80 28.07 37.05 40.83 39.28 50
90 28.64 37.25 40.88 39.38 50
100 29.04 37.37 40.91 39.44 50
110 29.33 37.43 40.92 39.47 50
120 29.53 37.47 40.92 39.48 50
130 29.68 37.50 40.93 39.49 50
140 29.78 37.51 40.93 39.49 50
150 29.85 37.52 40.93 39.49 50
160 29.91 37.52 40.93 39.50 50
170 29.94 37.52 40.93 39.50 50
180 29.97 37.52 40.93 39.50 50
190 29.99 37.53 40.93 39.50 50
200 30.00 37.53 40.93 39.50 50
210 30.01 37.53 40.93 39.50 50
220 30.02 37.53 40.93 39.50 50
230 30.02 37.53 40.93 39.50 50
240 30.03 37.53 40.93 39.50
250 30.03 37.53 40.93 39.50
260 30.03 37.53 40.93 39.50
270 30.03 37.53 40.93 39.50
280 30.03 37.53 40.93 39.50
290 30.03 37.53 40.93 39.50
300 30.03 37.53 40.93 39.50
310 30.03 37.53 40.93 39.50
320 30.03 37.53 40.93 39.50
330 30.03 37.53 40.93 39.50
340 30.03 37.53 40.93 39.50
350 30.03 37.53 40.93 39.50
360 30.03 37.53 40.93 39.50
370 30.03 37.53 40.93 39.50
380 30.03 37.53 40.93 39.50
390 30.03 37.53 40.93 39.50
400 30.03 37.53 40.93 39.50
410 30.03 37.53 40.93 39.50
420 30.03 37.53 40.93 39.50
430 30.0335 37.5262 40.9299 39.4969
440 30.0335 37.5262 40.9299 39.4969
450 30.0335 37.5262 40.9299 39.4969
460 30.033539 37.52619499 40.9298698 39.4969016
470 30.0335403 37.52619499 40.9298698 39.4969016
480 30.0335413 37.52619499 40.9298698 39.4969016
490 30.033542 37.52619499 40.9298698 39.4969016
500 30.0335425 37.52619499 40.9298698 39.4969016
510 30.0335428 37.52619499 40.9298698 39.4969016
520 30.033543 37.526194991 40.9298698 39.4969016
530 30.0335432 37.526194991 40.9298698 39.4969016
540 30.0335433 37.526194991 40.9298698 39.4969016
550 30.0335434 37.526194991 40.9298698 39.4969016
560 30.0335435 37.526194991 40.9298698 39.4969016
570 30.0335435 37.526194991 40.9298698 39.4969016
580 30.0335436 37.526194991 40.9298698 39.4969016
590 30.0335436 37.526194991 40.9298698 39.4969016
600 30.0335436 37.526194991 40.9298698 39.4969016
610 30.0335436 37.526194991 40.9298698 39.4969016
620 30.0335436 37.526194991 40.9298698 39.4969016
630 30.0335436 37.526194991 40.9298698 39.4969016
640 30.0335436 37.526194991 40.9298698 39.4969016
650 30.0335436 37.526194991 40.9298698 39.4969016
660 30.0335436 37.526194991 40.9298698 39.4969016
670 30.0335436 37.526194991 40.9298698 39.4969016
680 30.0335436 37.526194991 40.9298698 39.4969016
690 30.0335436 37.526194991 40.9298698 39.4969016
700 30.0335436 37.526194991 40.9298698 39.4969016
710 30.0335436 37.526194991 40.9298698 39.4969016
720 30.0335436 37.526194991 40.9298698 39.4969016
730 30.0335436 37.526194991 40.9298698 39.4969016
740 30.0335436 37.526194991 40.9298698 39.4969016
750 30.0335436 37.526194991 40.9298698 39.4969016
760 30.0335436 37.526194991 40.9298698 39.4969016
770 30.0335436 37.526194991 40.9298698 39.4969016
780 30.0335436 37.526194991 40.9298698 39.4969016
790 30.0335436 37.526194991 40.9298698 39.4969016
800 30.0335436 37.526194991 40.9298698 39.4969016
810 30.0335436 37.526194991 40.9298698 39.4969016
 820 30.0335436 37.526194991 40.9298698 39.4969016
830 30.0335436 37.526194991 40.9298698 39.4969016
840 30.0335436 37.526194991 40.9298698 39.4969016
850 30.0335436 37.526194991 40.9298698 39.4969016
860 30.0335436 37.526194991 40.9298698 39.4969016
870 30.0335436 37.526194991 40.9298698 39.4969016
880 30.0335436 37.526194991 40.9298698 39.4969016
890 30.0335436 37.526194991 40.9298698 39.4969016
900 30.0335436 37.526194991 40.9298698 39.4969016
910 30.0335436 37.526194991 40.9298698 39.4969016
920 30.0335436 37.526194991 40.9298698 39.4969016
930 30.0335436 37.526194991 40.9298698 39.4969016
940 30.0335436 37.526194991 40.9298698 39.4969016
950 30.0335436 37.526194991 40.9298698 39.4969016
960 30.0335436 37.526194991 40.9298698 39.4969016
970 30.0335436 37.526194991 40.9298698 39.4969016
980 30.0335436 37.526194991 40.9298698 39.4969016
990 30.0335436 37.526194991 40.9298698 39.4969016
1000 30.0335436 37.526194991 40.9298698 39.4969016
1010 30.0335436 37.526194991 40.9298698 39.4969016
1020 30.0335436 37.526194991 40.9298698 39.4969016
1030 30.0335436 37.526194991 40.9298698 39.4969016
1040 30.0335436 37.526194991 40.9298698 39.4969016
1050 30.0335436 37.526194991 40.9298698
1060 30.0335436 37.526194991 40.9298698
1070 30.0335436 37.526194991 40.9298698
1080 30.0335436 37.526194991 40.9298698
1090 30.0335436 37.526194991 40.9298698
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0
0 0
 Chart Title
60

50

40

30

20

10

0
0 50 100 150 200 250 300 350 400 450
Kc TI Tp K3 e
1 3 12.103 0.238 0.206
2 2 6.988 0.079 0.333
2.5 3 7.655 0.095 0.522
3 3 6.988 0.079 0.643

50

0 50.0 50.0 50.0 50.0

20 50.7 50.1 50.2 50.1
40 50.0 49.9 50.0 50.0
60 49.6 50.0 50.0 50.0
80 50.0 50.0 50.0 50.0
100 50.2 50.0 50.0 50.0
120 50.0 50.0 50.0 50.0
140 49.9 50.0 50.0 50.0
160 50.0 50.0 50.0 50.0
180 50.0 50.0 50.0 50.0
200 50.0 50.0 50.0 50.0
220 50.0 50.0 50.0 50.0
240 50.0 50.0 50.0 50.0
260 50.01 50.00 50.00 50.00
280 50.00 50.00 50.00 50.00
300 49.99 50.00 50.00 50.00
320 50.00 50.00 50.00 50.00
340 50.00 50.00 50.00 50.00
360 50.00 50.00 50.00 50.00
380 50.00 50.00 50.00 50.00
400 50.00 50.00 50.00 50.00
420 50.00 50.00 50.00 50.00
440 50.00 50.00 50.00 50.00
460 50.00 50.00 50.00 50.00
480 50.00 50.00 50.00 50.00
500 50.00 50.00 50.00 50.00
520 50.00 50.00 50.00 50.00
540 50.00 50.00 50.00 50.00
560 50.00 50.00 50.00 50.00
580 50.00 50.00 50.00 50.00
600 50.00 50.00 50.00 50.00
620 50.00 50.00 50.00 50.00
640 50.00 50.00 50.00 50.00
660 50.00 50.00 50.00 50.00
680 50.00 50.00 50.00 50.00
700 50.00 50.00 50.00 50.00
720 50.00 50.00 50.00 50.00
740 50.00 50.00 50.00 50.00
760 50.00 50.00 50.00 50.00
780 50.00 50.00 50.00 50.00
800 50.00 50.00 50.00 50.00
410 50.00 50.00 50.00 50.00
420 50.00 50.00 50.00 50.00
430 50.00 50.00
440 50.00 50.00
450 50.00 50.00
460 50.00 50.00
 Chart Title
51
51
51
50
50 Col umn C
Axis Title

50 Col umn D
Col umn E
50
Col umn F
50
49
49
49
0 50 100 150 200 250 300 350
Axis Title