%_________________________________________________________________________________________________
%Laboratoire Europeen Associe - Systemes Intelligents et Controle Avance (LEA-SICA)
%Grup de Recerca en Enginyeria de Control i Sistemes Intel·ligents (eXiT)
%Universitat de Girona (UdG)
%_________________________________________________________________________________________________
%Fecha:  23/10/1998  19:48:29 
%Experimento: Control de posicion con PID 
%Condiciones de ejecucion 
%Controlador Giro KP = 5.0 KI = 1.0 KD = 0.0 
%Controlador Desplazamiento KP = 0.3 KI = 0.2 KD = 0.0 
%Tiempo de muestreo = 0.3 s 
%Errores Finales error angulo = 0.05 rad  error posicion = 5.0 cm 
%Punto inicial 134 cm  60 cm
%Consigna 70 cm  49 cm
       0.0     134.0      60.0    6.1569
    11.421     132.0      59.0  3.421869
    11.722     132.0      58.0  3.347949
    12.005     132.0      58.0  3.347949
    12.304     133.0      58.0  3.372589
      12.6     132.0      59.0  3.471149
    12.886     132.0      58.0  3.347949
    13.203     130.0      58.0  3.323309
    13.503     126.0      57.0   3.27403
    13.761     125.0      57.0  3.372589
    14.068     121.0      57.0  3.323309
    14.369     111.0      56.0   3.20011
    14.657     103.0      56.0  3.323309
    14.915      97.0      55.0   3.27403
    15.222      92.0      55.0  3.347949
    15.524      83.0      54.0  3.347949
     15.86      79.0      53.0  3.421869
    16.106      79.0      53.0  3.323309
      16.4      78.0      53.0  3.323309
    16.661      76.0      52.0  3.347949
    16.965      75.0      52.0  3.692908