kp 1

ki 0.1
kd 0.1 Controlador PID

PID N Tiempo señal deseada señal medidae(t) e^t(t) ∫e(t)dt

1 0 5 1 4 4 0.4
2 0.1 5 2 3 -10 0.7
3 0.2 5 3 2 -10 0.9
4 0.3 5 4 1 -10 1
5 0.4 5 6 -1 -20 0.9
6 0.5 5 7 -2 -10 0.7
7 0.6 5 6 -1 10 0.6
8 0.7 5 5 0 10 0.6
9 0.8 5 3 2 20 0.8
10 0.9 5 2 3 10 1.1
11 1 5 3 2 -10 1.3
12 1.1 5 4 1 -10 1.4
13 1.2 5 5 0 -10 1.4
14 1.3 5 6 -1 -10 1.3
15 1.4 5 7 -2 -10 1.1
16 1.5 5 8 -3 -10 0.8
17 1.6 5 7 -2 10 0.6
18 1.7 5 6 -1 10 0.5
19 1.8 5 4 1 20 0.6