Department of Chemical Engineering and Pulp & Paper

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Program: Chem Eng Pulp and Paper

Qualification: National Diploma Bachelor of Technology

Subject: Process Control IV

Lecturer: Mr. RT, Christy

Assessment type: Practical

student name: 20609872 Phungula MN

21400581 Mnyandu MM

Submitted in partial fulfillment of the requirements for Project: Chemical Engineering IV in the Department of Chemical
Engineering, Durban Institute of Technology.
Declaration Statement

I know and I understand that plagiarism is using another person’s work and pretending it is
one’s own, which is wrong. This report/project is my own work. I have appropriately
referenced the work of other people I have used. I have not allowed’ and not allow, anyone to
copy my work with the intention of passing it off as our own work.

Mnyandu MM 21400581

Phungula MN 20609872
Abstract

Manipulation of any one or all the three mathematical models of the PID controller has an
effect on the error signal of the system. In this practical Kc, TD and TI were altered from the
original set values, to investigate how each mode individually or two modes affect
performance of the system.

The tank height was first set to 75% of the total tank height, then 50 % and lastly 25% of the
total tank height system took 1 minute to stabilize after the tank height is changed. To
investigate the effect of tuning constants on stabilisation time, the process gain (Kc),
integration time (TI) and derivative time (TD) were changed. When water level was set to
60% of the total tank height and Kc to -2, Ti and TD set to 0, the system experiences more
oscillations and takes a longer time to reach steady state condition. Changing Kc to -40 while
leaving TI and TD unchanged causes a small change in rise time and decreases the settling
time of the system, thus, the system stabilizes quickly. Decreasing Kc further to -80 offset
approaches zero and the time it takes for the system to stabilize decreases further. Increasing
TD to 10 while Kc and TI are kept at -2 and 0.08 respectively, the system experiences more
oscillations, offset increases and steady state is never reached. Fixing Kc and TD to original
values (-2 and 0.02 respectively) and increasing TI to 10 increases offset or overshoot,
however oscillations are eliminated, decreasing settling time.

A change in Kc decreases rise time and steady state error, increases the offset and has a small
impact on settling time. Changing Ti increases the offset as well as the settling time,
decreases the rise time and eliminates the steady state error. Offset and settling time will
decrease while a small change will be observed in the steady state error and rise time when
there is a change in TD.
Contents
Nomenclature ......................................................................................................................................... 5
Introduction ............................................................................................................................................ 6
Background ......................................................................................................................................... 6
PID controller ...................................................................................................................................... 8
Objectives ............................................................................................................................................... 8
Set Point Input Changes ...................................................................................................................... 9
Experimental method and apparatus ................................................................................................... 10
Start-up procedure............................................................................................................................ 10
Operating procedure ........................................................................................................................ 11
Effect of set-point change on stabilisation (time) ............................................................................ 11
Effect of tuning constants on stabilisation (time) ............................................................................. 11
Shut down procedure ....................................................................................................................... 11
Results and Discussion .......................................................................................................................... 12
Effect of varying the tank level set point on stabilisation................................................................. 12
Table 2: Results on varying the level set point ................................................................................. 12
Figure 2: Effect controller with 60 % water level in the tank ........................................................... 13
Figure 3: Effect controller with 75 % water level in the tank ........................................................... 14
Figure 4: Effect controller with 50 % water level in the tank ........................................................... 14
Figure 5: Effect controller with 25 % water level in the tank ........................................................... 15
Effect of tuning constants on stabilisation ....................................................................................... 15
Figure 6: Effect of controllers to level set point change ................................................................... 16
Figure 7: Effect of varying proportional control without integral and derivative controller............ 17
Figure 8: Effect of the integral controller on stabilisation ................................................................ 18
Figure 9: Effect of the derivative controller on stabilisation ............................................................ 19
Conclusion and Recommendation .................................................................................................... 20
References ............................................................................................................................................ 21
Appendix ............................................................................................................................................... 22
Table 3: Typical raw data collected during the varying the level set point ...................................... 22
Table 4: Typical raw data collected during the varying the level set point to 25% .......................... 31
Table 5: Typical data varying the process gain and looking at the effect the process gain has on the
system ............................................................................................................................................... 34
Nomenclature
PID: Proportional integral derivative

TD: Derivative time (s)

TI: Integral time (s)

Ii: Initialization constant for integral mode

KC: Controller gain

Id: Initialization constant for derivative mode

PD: Proportional derivative controller

PI: Proportional integral controller

P: Proportional only controller

MV: Manipulated variable (%)

CV: Controlled variable (%)

E: Error (%)

I: Initialization constants

IAE: Integral error measure

Introduction
The objective of this practical is to observe how manipulations of the three modes (Kc, Ti
and TD) affect the performance of a controller. Inlet water flow was manipulated as the input
variable in this practical, while level of the tank was the output variable. Manipulation of this
three modes affect rise time (the time for the process to first cross its new steady state value),
decay ratio (the ratio by which the oscillation is reduced during one complete cycle, or the
ratio of successive peak heights), offset and settling time (the time required for the response
curve to reach and stay within a range of certain percentage, usually 5% or 2% of the final
value) of the controller.

The three mechanical model of the PID controller are proportional (P), integral (I) and
derivative (D) which are used to obtain desired response of a system. The controller
determines how far the current state of a system is from the desired state and then
automatically applies a control signal to bring the system closer to the desired state. In
industry, PID controllers are used to control overall behaviour of complex processes.

Background
In a system is integrated with a set point, however, the output variable usually varies from the
desired set point. The three mechanical model modes aim at reducing that deviation or error
signal of a system. The error can be defined as the difference between the set point value and
the measured output variable. To obtain a value very close to the set point, each mode is
assigned a tuning constant. The tuning constants are the controller gain (KC), the integral
time (TI) and the derivative time (Td) and three of them have different effects on a system.

A proportional controller (P) has the effect of reducing the rise time (the amount of time
the system takes to go from 10% to 90% of the steady-state or final value). The proportional
controller can never eliminate the steady-state error or offset in the output but it can however
reduce the steady-state error. Thus implementing only a proportional mode implies that there
will always be a difference between the set point and the actual output variable. The
proportional mode makes an adjustment to the manipulated variable in direct proportion to
the error signal. The bigger the error between the set point and process variable the greater
the change in the manipulated variable. The equation for the proportional mode is as follows:
𝑀𝑉𝑝 (𝑡) = 𝐾𝐶 𝐸(𝑡) + 𝐼𝑝 … … … … … … … … (1)

Where

MV – Manipulated variable

KC – Controller gain

E – Error (set point – measured value)

I – Initialization constant or bias

And initialization constant can be determined at the time of initialization by equation,

𝐼𝑝 = [𝑀𝑉(𝑡) − 𝐾𝐶 𝐸(𝑡)]𝑡=0 … … … … … … … … (2)

When an integral control (I) eliminates the steady-state error or provides zero offset, the
transient response (the response of a system to change from equilibrium) is delayed. The
integral mode adjusts the manipulated variable until the error is zero. This mode is obtained
by this equation;

𝐾𝑐 𝑡
𝑀𝑉𝐼 (𝑡) = ∫ 𝐸(𝑡)𝑑𝑡 + 𝐼𝐼 … … … … … … … … (3)
𝑇1 0

Where

TI – Integral time

II – Initialization constant for the integral mode

A derivative control (D) increases the stability of the system by reducing the overshoot and
improving the transient time. The derivative mode acts when a disturbance continuously
affects the controlled variable. This mode ‘predicts’ or extrapolates the error in future based
on current slope of error as far as Td minutes (derivative time) into the future. The derivative
control mode provides a controller with an additional control action when the error changes
consistently. This mode allows for using a higher controller gain and a faster integral, thus
making the system more stable. The deviation mode has the ability to reduce maximum
deviation of the process variable from set point if the process receives an external
disturbance.

The equation for the derivative mode is

 𝑑𝐸(𝑡)
𝑀𝑉𝑑 (𝑡) = 𝐾𝑐 𝑇𝑑 + 𝐼𝑑 … … … … … … … … (4)
𝑑𝑡

PID controller
The integral controller has the effect of increasing or decreasing the output when there is
offset. In this way, the controller is forced to eliminate the error caused by this offset. Integral
causes the controller output to move in the direction of set point. Moreover, the derivative
action adds the effect of the error’s differential or rate of change. Thus, when an error
changes by more than certain value at a specified length of time, a portion of the error is
added to the calculated output to improve the output response, as a result the proportional
mode will reduce the overshoot. Functions of the three modes of PID are presented in figure
1 below.

Figure 1: Typical proportional, integral and derivative control loop

Objectives
1. Evaluate the effect of changing of the process output variable (level) on process
stabilisation by keeping the controller setting the same.

2. Then evaluate the effect of each controller on process stability by keeping the set point
constant and varying the controller settings.
Set Point Input Changes
Table 1: Effects of each of controllers Kp, Ki, and Kd on a closed-loop system are
summarized

CL RESPONSE RISE TIME OVERSHOOT SETTLING S-S ERROR

TIME
Kp Decrease increase Small change decrease
Ki Decrease Increase Increase Eliminate
Kd Small change Decrease decrease Small change

Marlin (2000) has indicated that in process control the first type of input change involves
changes to the set point. Then further described each terms associated with these changes as:
Set point: Is the targeted or desired output variable. Offset (G): Is the difference between
final, steady state values of the set point and of the controlled variable. Rise time (A): This is
the time from the step change in the set point until the controlled variable first reaches the
new set point. Amplitude (C): It is height it took for the output variable to reach it peak.
Period of Oscillation (P): This depends on the process dynamics and is an important
characteristic of the closed-loop response. It is the distance between the first peak and second
peak. Settling Time (F): This is the time it took for the process to reach steady state. Decay
ratio (C/B): this is the ratio of neighbouring peaks in an underdamped controlled-variable
response. Usually, periodic behaviour with large amplitudes is avoided in process variables;
therefore, a small decay ratio is usually desired, and an overdamped response is sometimes
desired. Manipulated-variable overshoot (D/E): this is has to do with the oscillation of the
manipulated process variable. It the ratio of the first oscillation the second oscillation with the
second oscillation measured from the zero point of the manipulated variable
Experimental method and apparatus
Start-up procedure
– On start-up both control valve and valve V-1 were closed and then tanks 1 and 2 were
emptied.

- Pump E-1 was switched off - Before starting the practical, the bottom screw valve was
closed

- The relief valve was then loosened after releasing the red button

- The compressor was filled with air until it switched itself off

- The pressure was increased to 2 bar by tightening the relief

- The gauge at the back of the tank 1 read 200 kPa

- To start the practical water supply was opened

- To fill tank 1 with water, a solenoid valve V-1 was opened by clicking on it and closed
automatically when the high level was reached
Operating procedure
- After ensuring that the original values for PID were Kc = -2, T1 = 0.08 and TD = 0.02, the
automatic control was switched on

- The manual control valve was the opened

- Tank 2 water level was set at 60% of the total tank height before the pump was switched on
- The system was let to stabilize

Effect of set-point change on stabilisation (time)

- Water level of tank 2 was set to 75% , 50% and lastly 25% of the total tank height and
enough time was let to pass to allow the system to stabilize

- Data was loaded on the flash drive

Effect of tuning constants on stabilisation (time)

- After ensuring that the original values for PID are Kc = -2, T1 = 0.08 and TD = 0.02, the
manual valve was fully opened

- The water level for tank 2 was set to 60 5 of the total height of the tank

- Kc was kept at -2 while T1 and TD were both changed to 0

- While keeping T1 and TD to the original values, Kc was first set to -40 and then set to -80 -
Next T1 was increased to 10 while keeping Kc and TD to original values

- Lastly TD was increased to 10 while keeping Kc and T1 to original values

- In all the above cases, the system was allowed to stabilize

- Data was loaded on a flash drive for graph plotting

Shut down procedure

- Water was drained from tank 2 by opening the solenoid valve V-3

- The water supply was closed and the air compressor was switched off
- Compressed air was released from the compressor through screw valve under the
compressor

- Main power to the unit was switched off

Results and Discussion

Effect of varying the tank level set point on stabilisation
The level in the tank was the output with the flowrate being the input variable by
manipulating the valve v2 position. To evaluate the effect of changing set point was
evaluated by conducting four runs starting from 60%, 75%, 50% and 25% level set point and
these were evaluated at same controller settings. The proportionality controller was set to be
was - 2, integral controller was set at 0.08 and derivative controller set at 0.02. These where
the outcome for each run:

Table 2: Results on varying the level set point

RUN Rise Offset Amplitude(%) Decay Period of Settling Manipulated
time (s) (%) ratio(%) oscillation(%) time(s) variable
overshoot(%)
1 21 - 8 0.13 34 71 1.03
2 12 - 9 0.33 39 76 1
3 33 - 10 0.50 57 105 2
4 47 - 7 0.57 46 94 2.27

In the run 1 level took 21 second to move from 42 % to the desired 60 %. To do this the valve
position move to around 10 % to increase the water level in the column. All the controllers
where set so the offset were eliminated. Decay ratio was 0.13 which was achieved by
reducing the period of oscillation (see Figure 2 below). Controllers showed to be effective as
the system was stable and had less oscillation. This is also evident by looking the
manipulated overshoot which was 1.03. The process reached steady state after 71 seconds
which was faster than in other runs. This shows that also settling time depends on the
amplitude.
Figure 2: Effect controller with 60 % water level in the tank

The second run show fast response with rise time of 12 second to move the level from 60 %
to 75 % and there was slight higher amplitude which was 9%. Due to proportional controller
the offset also in this run was eliminated. Decay ratio was seen to reduce to 0.33. With the
effect of the decay ratio and amplitude the created a slight increase in the process settling
time of output variable which was 76 seconds. Manipulated variable overshoot was almost
the same a previous run showing stability in the valve actuator control which was 1.
Controllers showed to be effective as the system was stable and had less oscillation (see
Figure 3 below). Also the period of oscillation was 39 seconds which also played a part in
increasing the output variable settling time.
Figure 3: Effect controller with 75 % water level in the tank

On run 3 the rise time was 33 seconds for a level to drop from 75 % to 50 % which is much
faster than the previous runs considering the 25 % level change. To eliminate this error, the
manipulated valve opened to 100 % which then increased the manipulated variable overshoot
to 2 (see Figure 4 below). As the proportional controller was effective as offset as eliminated.
As for this change also the decay ratio increased to 0.5 with the amplitude also increasing to
10%. The settling time also increased to 105 second and period of oscillation increased to 57
%. Overall thought the system showed to be stable with minor oscillations.

Figure 4: Effect controller with 50 % water level in the tank

In run 4 there was an increase in rise time to 47 seconds as it is seen from Figure 5 below that
when the valve open to 100 % there was still an increase in level in tank 2. Though the
amplitude decreased to 7% the decay ratio increased to 0.57. This effect of low amplitude and
higher decay ratio was caused by narrow control. Figure 5below show the two oscillations by
B and C. But there was a decreased in the settling time to 94 seconds as compared to run 3 as
these runs are both shifting level set point by 25 %. This slight decrease was caused by
decrease in period of oscillation. The manipulated variable overshoot was at the maximum
which was 2.27 due that the valve had to open to maximum position before it starts
stabilising. Controllers showed to be effective as the system was stable and had less
oscillation
Figure 5: Effect controller with 25 % water level in the tank

Effect of tuning constants on stabilisation

This run showed the same effect as Figure 2 the change in rise time, period of oscillation and
settling time was caused by that level started at 30 % as opposed to 42 % previously
discussed.
Figure 6: Effect of controllers to level set point change

RUN Rise Offset Amplitude(%) Decay Period of Settling Manipulated

time (s) (%) ratio(%) oscillation(%) time(s) variable
overshoot(%)
6 - - 15 - - 17 -
7 37 - - - - 37 Unstable
8 - - - - - - Unstable
9 - - 10 - - - 1
10 - - 40 - - 127 unstable

Switching off the integral and derivative controller and varying the proportionality controller
setting showed a lot of instability in the process. The system was still stable as they all runs
reached some steady state. This is evidence that the system was controlled. In run 6 as seen in
Figure 7(a) below had an offset of 15 % to the required set point as mentioned that system
was stable which means also on this run there was some degree of control. Since there was
only a slight shift the on the process gain as the proportionality control was only set to -2.
There wasn’t any serve or concerning manipulated variable variation. The system stated to
settle after 17 seconds.

Figure 7: Effect of varying proportional control without integral and derivative

controller.

(a) Proportional controller at -2, (b) Proportional controller at -40, (c) Proportional controller
at -80 Then run 7 Figure 7(b) was conducted and there was a shift in the offset to 0 with some
slight oscillations on the output variable (level) though. But control is in the form of the on
and off control with the valve position shifting between 0% and 100% to maintain the desired
output variable. This also showed the rise time and the settling time to be equal at 37 seconds.
Increasing the proportionality constant further in run 8 Figure 7 (c) showed the same effect
run 7. But the oscillations of the level were reduced and process variable (actual level) was
close to the point
Then run 9 was done with evaluating the integral controller which Marlin (2000) indicated
that the I can’t be used independently to which proportional control was reduced back to -2 so
to have so control in the. Use the integral control alone with make the system unstable. This
run showed an offset of 10 % to level with a stable manipulated variable which was evidently
shown by the overshoot of 1. There were oscillations though output variable see Figure 8
below.

Figure 8: Effect of the integral controller on stabilisation

In the last run that was conducted this was run 10. The integral controller was switch off and
only derivative controller was used. The derivative control was set to 10 this then increased
the offset to 40 %. But using the derivative controller eliminated the oscillations on the output
variables. Also like the integral controller derivative controller can’t be used independently as
the system will be unstable causing overflow. To control this variable comes at the scarifies
of the valve as it operates at on-off control as this damages valve seals faster. In the on-off
control the overshoot is at maximum.
Figure 9: Effect of the derivative controller on stabilisation
Conclusion and Recommendation
In the experiment it was evident that all types are as important the other one in either
reducing rise time, settling time, amplitude, decay ratio, manipulated variable overshoot or an
offset. But it is seen that increasing the proportionality controller setting to high will cause
damage to the equipment. So it in every Engineering objective to make sure these setting is at
their optimum. Also it was evidence to eliminate to reduce this manipulated variable
overshoot that an integral controller setting has to be higher that derivative controller setting.
As the derivative controller favours an on-off control strategy. In the practical there isn’t any
need to switch off the data login as this doesn’t show where the output variable started to be
able to evaluate data. Also run 5 in figure 6 isn’t necessary as it is repetition of run 1.
References
Marlin, T. E. 2000. Process Control : Designing processes and control systems for dynamic
performance. 2nd edition. United States of America: Thomas Casson. Industrial controls.
2014. Basics of PID Control (Proportional+Integral+Derivative) (online). Available:
http://www.industrialcontrolsonline.com/training/online/basics-pid-
controlproportionalintegralderivative (Accessed 13 September 2014)

Wikipedia. 2016. PID controller. Available: https://en.wikipedia.org/wiki/pid_controller

(Accessed 12 September 2016).
Appendix
Table 3: Typical raw data collected during the varying the level set point
RUN1
Time (s) Level (%) Setpoint (%) Output (%)
0 100 75 50
1 100 75 60,416667
2 100 75 70,833333
3 100 75 81,25
4 100 75 91,666667
5 100 75 100
6 100 75 100
7 100 75 100
8 100 75 100
9 100 75 100
10 100 75 100
11 100 75 100
12 100 75 100
13 100 75 100
14 100 75 100
15 100 75 100
16 100 75 100
17 100 75 100
18 100 75 100
19 100 75 100
20 100 75 100
21 100 75 100
22 100 75 100
23 100 75 100
24 100 75 100
25 100 75 100
26 100 75 100
27 100 75 100
28 97,545005 75 94,650819
29 94,210906 75 93,956215
30 91,710332 75 94,551491
31 90,209987 75 99,820062
32 88,042823 75 98,252341
33 86,209068 75 96,75408
34 84,542019 75 96,406778
35 83,208379 75 97,245165
36 81,87474 75 98,039756
37 80,5411 75 96,689482
38 79,207461 75 95,287699
39 77,873821 75 95,661324
40 76,706886 75 94,264404
41 75,539952 75 92,381261
42 74,373017 75 89,246442
43 73,206083 75 85,66013
44 72,039148 75 83,153233
45 70,872213 75 80,125382
46 69,538574 75 74,660167
47 68,371639 75 69,059503
48 67,704819 75 67,225677
49 66,204475 75 58,489572
50 65,537655 75 55,75276
51 64,37072 75 47,650134
52 63,537196 75 42,963569
53 62,703671 75 36,329335
54 61,870146 75 28,582346
55 61,203326 75 22,439197
56 60,703212 75 15,603527
57 60,036392 75 8,173972
58 59,036162 75 0
59 58,702752 75 0
60 58,869457 75 0
61 59,036162 75 0
62 58,869457 75 0
63 59,036162 75 0
64 59,369572 75 0
65 59,702982 75 0
66 59,869687 75 0
67 60,703212 75 0
68 62,203556 75 0,68276
69 63,203786 75 2,00737
70 63,537196 75 0
71 64,37072 75 0,018024
72 65,537655 75 1,377364
73 65,70436 75 0
74 66,70459 75 6,085389
75 66,871295 75 0
76 68,204934 75 4,165504
77 69,038459 75 0,990469
78 69,705279 75 1,12939
79 70,038689 75 0,082622
80 70,538803 75 0,186813
81 71,539033 75 1,985106
82 72,205853 75 1,250144
83 73,039378 75 2,744165
84 72,705968 75 0
85 74,039607 75 6,720916
86 75,039837 75 6,894495
87 75,873362 75 7,168792
88 76,040067 75 8,614191
89 77,040296 75 10,490939
90 77,873821 75 14,730035
91 78,373936 75 14,648695
 92 79,040756 75 19,092699
93 79,040756 75 16,844889
94 79,87428 75 22,821884
95 80,20769 75 26,354568
96 80,374395 75 28,075031
97 80,20769 75 27,597766
98 80,87451 75 33,675479
99 81,041215 75 35,708513
100 81,374625 75 40,527603
101 81,374625 75 42,348783
102 81,708035 75 45,741157
103 81,708035 75 48,501441
104 81,87474 75 50,881777
105 81,54133 75 50,678881
106 81,374625 75 55,419481
107 81,20792 75 57,69007
108 81,20792 75 61,042157
109 81,20792 75 62,828606
110 80,707805 75 63,493271
111 80,87451 75 67,057212
112 80,374395 75 68,348409
113 80,374395 75 69,822286
114 80,20769 75 71,710843
115 79,707576 75 71,993475
116 79,040756 75 72,482404
117 78,540641 75 73,078997
118 78,040526 75 73,467209
119 77,373706 75 74,026988
120 76,206772 75 70,055866
121 75,706657 75 70,306546
122 75,039837 75 69,163156
123 74,206312 75 68,121873
124 73,539493 75 66,31861
125 73,372788 75 66,159474
126 73,039378 75 64,745188
127 72,705968 75 63,957436
128 72,539263 75 61,85063
129 72,372558 75 60,474548
130 71,872443 75 58,257995
131 72,372558 75 59,676999
132 72,372558 75 57,782048

RUN 2
Time (s) Level (%) Setpoint (%) Output (%)
0 72,372558 50 44,745116
1 71,872443 50 52,145046
2 71,705738 50 56,35103
3 71,705738 50 69,986576
4 71,705738 50 75,308789
5 71,705738 50 90,405782
6 71,705738 50 98,614926
7 71,872443 50 100
8 71,872443 50 100
9 71,539033 50 100
10 71,539033 50 100
11 71,038918 50 100
12 71,038918 50 100
13 71,372328 50 100
14 71,205623 50 100
15 71,205623 50 100
16 71,038918 50 100
17 71,205623 50 100
18 71,205623 50 100
19 71,038918 50 100
20 71,038918 50 100
21 70,872213 50 100
22 70,872213 50 100
23 69,538574 50 96,256936
24 68,371639 50 96,013825
25 65,37095 50 97,621139
26 64,537425 50 97,447488
27 62,370261 50 98,112224
28 61,703441 50 97,973303
29 59,536277 50 97,52181
30 58,869457 50 97,382889
31 56,868998 50 96,955865
32 56,368883 50 97,978165
33 54,368424 50 96,153755
34 54,035014 50 97,96266
35 52,201259 50 94,643619
36 51,53444 50 93,699115
37 49,86739 50 91,603272
38 49,367275 50 90,52332
39 47,700226 50 85,507361
40 47,366816 50 85,927059
41 45,866471 50 80,011589
42 45,199652 50 76,947153
43 43,866012 50 72,463262
44 43,699307 50 71,634756
45 42,532372 50 64,198103
46 42,032258 50 60,789839
47 40,365208 50 51,954948
48 40,365208 50 52,348251
49 39,031569 50 41,572636
50 38,698159 50 38,585997
51 38,031339 50 30,745779
52 37,031109 50 22,146739
53 36,530994 50 16,885585
54 36,197585 50 12,577809
55 35,36406 50 0,527596
56 35,36406 50 0,679177
57 35,69747 50 0
58 35,69747 50 0
59 35,69747 50 0
60 35,69747 50 0
61 36,530994 50 0
62 36,697699 50 0
63 37,864634 50 0
64 38,364749 50 0,924675
65 39,364979 50 0,016828
66 39,698388 50 0,086288
67 41,365438 50 1,549818
68 42,032258 50 2,804968
69 42,699077 50 0,711432
70 43,032487 50 0,780892
71 44,866242 50 4,84865
72 45,032947 50 0,929157
73 45,533062 50 0,185616
74 45,366357 50 0
75 46,366586 50 2,591724
76 47,033406 50 4,038047
77 48,533751 50 3,357112
78 48,86716 50 4,553377
79 50,53421 50 7,735134
80 51,034325 50 9,698937
81 52,034554 50 11,858237
82 52,201259 50 11,832694
83 53,534899 50 17,127436
84 53,701604 50 17,414465
85 54,701834 50 23,641366
86 54,868539 50 23,371322
87 55,368653 50 29,832305
88 55,535358 50 28,900998
89 56,202178 50 34,668071
90 56,368883 50 35,510783
91 56,868998 50 40,64785
92 57,035703 50 42,429666
93 57,369113 50 46,832538
94 56,868998 50 44,914893
95 57,035703 50 52,863717
 96 57,035703 50 53,529305
97 57,202408 50 58,312124
98 57,035703 50 58,661667
99 57,202408 50 63,513947
100 57,369113 50 66,965591
101 57,202408 50 69,585414
102 57,202408 50 71,886099
103 57,035703 50 76,002099
104 57,035703 50 77,467871
105 56,868998 50 81,47968
106 56,702293 50 81,759762
107 56,702293 50 85,983425
108 56,702293 50 88,17992
109 55,702063 50 89,220908
110 55,201948 50 87,756146
111 54,035014 50 88,343557
112 53,868309 50 90,433778
113 52,534669 50 88,932515
114 52,201259 50 88,759021
115 50,86762 50 86,285313
116 50,2008 50 84,262784
117 49,700685 50 85,66705
118 49,53398 50 85,253917
119 48,700456 50 82,200215
120 48,700456 50 83,529844
121 48,533751 50 82,332124
122 48,533751 50 82,026655
123 47,866931 50 77,237138
124 48,367046 50 82,646176
125 47,533521 50 76,427858
126 47,366816 50 75,563233
127 46,533291 50 71,155053
128 46,533291 50 72,033189
129 46,366586 50 69,446261
130 46,366586 50 68,6893
131 46,366586 50 66,418416
132 46,533291 50 66,812414
133 46,533291 50 63,810807
134 46,533291 50 63,088576
135 46,699996 50 62,072842
136 46,533291 50 59,434198
137 46,533291 25 100

RUN3
Time (s) Level (%) Setpoint (%) Output (%)
0 46,366586 25 42,733173
1 46,199881 25 51,250412
2 45,032947 25 47,610342
3 43,699307 25 61,047811
4 43,199192 25 63,090992
5 42,365668 25 73,338145
6 42,032258 25 76,254442
7 41,365438 25 86,192496
8 41,198733 25 89,251187
9 40,365208 25 96,647686
10 40,198503 25 100
11 39,698388 25 100
12 39,531683 25 100
13 39,031569 25 100
14 38,864864 25 100
15 37,697929 25 99,296716
16 37,197814 25 99,192526
17 36,530994 25 100
18 36,197585 25 100
19 34,863945 25 98,706303
20 34,530535 25 99,753071
21 33,196895 25 99,475229
22 32,863486 25 99,405769
23 31,529846 25 98,011699
24 31,029731 25 97,907508
25 29,696092 25 97,629667
26 29,195977 25 97,525476
27 28,029042 25 98,214879
28 27,695632 25 98,144379
29 26,195288 25 95,559419
30 25,695173 25 94,756112
31 24,528238 25 92,492059
32 24,194828 25 92,492409
33 23,694714 25 92,433029
34 23,861418 25 93,312053
35 24,194828 25 93,33672
36 24,194828 25 92,368792
37 23,861418 25 89,563642
38 23,861418 25 90,926805
39 23,528009 25 88,643998
40 23,528009 25 89,137516
41 23,528009 25 88,182792
42 23,027894 25 84,423251
43 22,861189 25 82,97883
44 23,194599 25 87,235713
45 23,027894 25 84,052004
46 23,027894 25 83,641149
47 23,027894 25 81,677859
48 23,528009 25 85,520063
49 23,694714 25 82,585023
50 23,694714 25 82,313088
51 24,361533 25 83,839489
52 24,528238 25 84,05725
53 26,028583 25 88,832313
54 26,528698 25 90,098926
55 27,528927 25 93,297933
56 27,695632 25 92,5752
57 29,029272 25 98,213656
58 29,529387 25 100
59 30,196206 25 100
60 30,529616 25 100
61 32,530076 25 100
62 32,530076 25 100
63 33,3636 25 100
64 33,69701 25 100
65 35,03065 25 100
66 35,530765 25 100
67 36,697699 25 100
68 37,031109 25 100
69 38,198044 25 100
70 38,531454 25 100
71 40,031798 25 100
72 40,365208 25 100
73 41,865553 25 100
74 42,198963 25 100
75 43,532602 25 100
76 44,032717 25 100
77 44,866242 25 100
78 45,366357 25 100
79 46,699996 25 100
80 47,033406 25 100
81 48,033636 25 100
82 48,533751 25 100
83 49,033865 25 100
84 49,033865 25 100
85 48,86716 25 100
86 48,700456 25 100
87 47,533521 25 100
88 46,866701 25 100
89 46,199881 25 100
90 45,699766 25 100
91 44,866242 25 100
92 44,366127 25 100
93 42,699077 25 100
94 42,365668 25 100
95 41,365438 25 100
96 41,365438 25 100
97 41,032028 25 100
98 41,032028 25 100
 99 40,365208 25 99,852399
100 40,365208 25 100
101 40,365208 25 100
102 40,198503 25 100
103 39,531683 25 100
104 39,364979 25 100
105 38,198044 25 100
106 38,031339 25 100
107 38,031339 25 98,249948
108 37,864634 25 100
109 38,364749 25 100
110 38,031339 25 100
111 38,864864 25 100
112 38,864864 25 100
113 37,031109 25 94,692881
114 35,69747 25 93,298811
115 32,863486 25 95,762232
116 32,196666 25 96,797542
117 29,529387 25 95,092645
118 29,195977 25 96,935085
119 27,695632 25 98,349654
120 27,195517 25 94,658184
121 26,028583 25 94,0973
122 26,028583 25 95,911956
123 25,695173 25 97,314716
124 25,695173 25 95,859177
125 26,028583 25 97,899584
126 26,028583 25 97,313688
127 26,195288 25 99,142242
128 26,028583 25 97,440117
129 26,028583 25 98,813705
130 25,861878 25 97,877034
131 25,528468 25 97,644698
132 25,361763 25 97,40402
133 25,195058 25 98,044801
134 25,028353 25 96,934479
135 24,861648 25 96,601425
136 24,861648 25 97,372785
137 24,861648 25 98,017039
138 24,694943 25 96,037073
139 24,694943 25 96,611866
140 24,694943 25 96,548312
141 24,528238 25 95,937416
142 24,361533 25 94,688174
143 24,361533 25 94,323863
144 24,361533 25 94,991032
145 24,028123 25 92,290073
146 24,194828 25 94,838925
147 24,194828 60 4,506159
148 24,028123 60 0
149 24,028123 60 0
150 24,028123 60 0
 151 24,194828 60 0
152 24,361533 60 0
153 24,528238 60 0
154 25,028353 60 0
155 25,861878 60 0

Table 4: Typical raw data collected during the varying the level set point to 25%
RUN4
Time (s) Level (%) Setpoint (%) Output (%)
0 29,029272 60 0
1 30,029502 60 0
2 30,362911 60 0
3 31,363141 60 0
4 31,363141 60 0
5 32,863486 60 0
6 33,530305 60 0
7 34,69724 60 0
8 34,36383 60 0
9 35,530765 60 0
10 35,864175 60 0
11 37,031109 60 0
12 37,364519 60 0
13 38,531454 60 0
14 39,031569 60 0
15 40,698618 60 0
16 41,698848 60 0
17 43,032487 60 0
18 43,199192 60 0
19 44,699537 60 0
20 45,032947 60 0
21 46,366586 60 0
22 46,699996 60 0
23 48,200341 60 0
24 48,367046 60 0
25 49,53398 60 0
26 50,034095 60 0
27 51,20103 60 0
28 51,53444 60 0
29 52,868079 60 0
30 53,201489 60 0
31 54,535129 60 0
32 54,868539 60 0
33 56,035473 60 0
34 56,368883 60 0
35 57,702523 60 0
36 58,035932 60 0
37 59,369572 60 0
38 59,869687 60 0
39 60,703212 60 1,406423
40 60,703212 60 1,406423
41 62,536966 60 5,073932
42 62,703671 60 5,407342
43 64,037311 60 8,074621
44 64,204016 60 8,408031
45 65,37095 60 10,7419
46 65,70436 60 11,40872
47 66,70459 60 13,409179
48 66,871295 60 13,742589
49 67,704819 60 15,409639
50 67,704819 60 15,409639
51 68,371639 60 16,743278
52 68,705049 60 17,410098
53 69,038459 60 18,076918
54 69,205164 60 18,410328
55 69,705279 60 19,410557
56 70,038689 60 20,077377
57 70,538803 60 21,077607
58 70,538803 60 21,077607
59 71,038918 60 22,077837
60 71,372328 60 22,744656
61 71,872443 60 23,744886
62 71,872443 60 23,744886
63 72,205853 60 24,411706
64 72,539263 60 25,078526
65 72,705968 60 25,411936
66 72,705968 60 25,411936
67 73,039378 60 26,078755
68 73,539493 60 27,078985
69 74,206312 60 28,412625
70 74,206312 60 28,412625
71 74,706427 60 29,412854
72 75,039837 60 30,079674
73 75,039837 60 30,079674
74 75,039837 60 30,079674
75 75,373247 60 30,746494
76 75,373247 60 30,746494
77 75,706657 60 31,413314
78 76,206772 60 32,413543
79 76,206772 60 32,413543
80 76,373477 60 32,746953
81 76,373477 60 32,746953
82 76,540182 60 33,080363
83 76,706886 60 33,413773
84 76,706886 60 33,413773
 85 76,873591 60 33,747183
86 77,040296 60 34,080593
87 77,040296 60 34,080593
88 77,207001 60 34,414003
89 77,373706 60 34,747413
90 77,540411 60 35,080822
91 77,707116 60 35,414232
92 77,707116 60 35,414232
93 77,873821 60 35,747642
94 77,873821 60 35,747642
95 78,040526 60 36,081052
96 78,040526 60 36,081052
97 78,207231 60 36,414462
98 78,207231 60 36,414462
99 78,207231 60 36,414462
100 78,207231 60 36,414462
101 78,040526 60 36,081052
102 78,207231 60 36,414462
103 78,373936 60 36,747872
104 78,373936 60 36,747872
105 78,373936 60 36,747872
106 78,373936 60 36,747872
107 78,373936 60 36,747872
108 78,540641 60 37,081282
109 78,540641 60 37,081282
110 78,707346 60 37,414692
111 78,540641 60 37,081282
112 78,707346 60 37,414692
113 78,707346 60 37,414692
114 78,874051 60 37,748102
115 78,874051 60 37,748102
116 78,707346 60 37,414692
117 78,707346 60 37,414692
118 78,707346 60 37,414692
119 78,874051 60 37,748102
120 78,707346 60 37,414692
121 78,874051 60 37,748102
122 78,874051 60 37,748102
123 78,874051 60 37,748102
124 79,040756 60 38,081511
125 79,040756 60 38,081511
126 79,040756 60 38,081511
127 79,040756 60 42,048336
128 79,040756 60 46,01516
129 79,040756 60 57,915632
130 79,207461 60 62,233231
131 79,207461 60 72,152752
132 79,374166 60 76,505081
133 79,374166 60 87,779021
134 79,374166 60 91,815305
135 79,374166 60 100
136 79,207461 60 100
 137 24,861648 25 98,017039
138 24,694943 25 96,037073
139 24,694943 25 96,611866
140 24,694943 25 96,548312
141 24,528238 25 95,937416
142 24,361533 25 94,688174
143 24,361533 25 94,323863
144 24,361533 25 94,991032
145 24,028123 25 92,290073
146 24,194828 25 94,838925
147 24,194828 60 4,506159
148 24,028123 60 0
149 24,028123 60 0
150 24,028123 60 0
151 24,194828 60 0
152 24,361533 60 0
153 24,528238 60 0
154 25,028353 60 0
155 25,861878 60 0

Table 5: Typical data varying the process gain and looking at the effect the process
gain has on the system
RUN5
Time (s) Level (%) Setpoint (%) Output (%)
0 78,874051 60 100
1 78,373936 60 100
2 78,373936 60 100
3 77,707116 60 100
4 77,540411 60 100
5 77,040296 60 100
6 76,706886 60 100
7 76,206772 60 100
8 75,873362 60 100
9 74,873132 60 100
10 74,373017 60 92,91386
11 73,706197 60 100
12 73,372788 60 100
13 71,539033 60 100
14 71,372328 60 100
15 70,705508 60 100
16 70,538803 60 100
17 70,205394 60 100
18 70,205394 60 100
19 70,038689 60 100
20 69,871984 60 100
21 69,705279 60 100
22 69,538574 60 100
23 69,205164 60 100
24 68,538344 60 46,278151
25 68,204934 60 89,538084
26 68,038229 60 100
27 68,038229 60 100
28 67,871524 60 100
29 67,871524 60 100
30 67,871524 60 100
31 67,704819 60 100
32 67,704819 60 100
33 67,371409 60 100
34 67,038 60 84,675857
35 63,703901 60 0
36 63,037081 60 0
37 61,870146 60 0
38 61,870146 60 9,263656
39 61,703441 60 11,528065
40 61,870146 60 57,648587
41 60,869917 60 0
42 60,703212 60 0
43 60,203097 60 0,846237
44 60,369802 60 24,711648
45 60,203097 60 0
46 60,369802 60 29,485803
47 60,036392 60 0
48 60,036392 60 3,530679
49 59,869687 60 0
50 60,036392 60 22,476203
51 60,203097 60 15,332134
52 60,036392 60 0
53 59,869687 60 0
54 59,536277 60 0
55 60,036392 60 67,125345
56 59,702982 60 0
57 59,536277 60 0
58 59,702982 60 21,086996
59 59,702982 60 3,454407
60 59,702982 60 2,216832
61 60,203097 60 6,325347
62 60,203097 60 23,175258
63 60,203097 60 25,019364
64 60,703212 60 94,923125
65 60,869917 60 61,328538
66 60,703212 60 41,934016
67 60,869917 60 60,518077
68 61,370031 60 100
69 61,203326 60 100
 70 61,203326 60 100
71 61,203326 60 100
72 61,203326 60 100
73 60,536507 60 68,197491
74 60,536507 60 86,43661
75 60,703212 60 100
76 60,536507 60 79,910874
77 60,369802 60 75,130819
78 60,369802 60 92,675334
79 60,203097 60 56,197095
80 60,369802 60 100
81 60,036392 60 99,882963
82 59,869687 60 61,011746
83 60,203097 60 100
84 60,036392 60 67,244569
85 59,702982 60 52,973863
86 59,869687 60 90,759137
87 59,702982 60 64,721841
88 59,702982 60 63,484266
89 59,702982 60 89,000474
90 58,869457 60 0
91 57,535818 60 0
92 57,369113 60 0
93 56,535588 60 0
94 57,035703 60 54,622474
95 57,369113 60 11,36254
96 57,369113 60 0
97 57,035703 60 9,973332
98 57,035703 60 0
99 57,869228 60 59,775255
100 57,702523 60 0
101 58,035932 60 14,140956
102 57,869228 60 0
103 58,369342 60 5,373874
104 58,202637 60 0
105 58,702752 60 17,140465
106 58,536047 60 0
107 59,036162 60 20,834578
108 59,036162 60 0,814912
109 59,369572 60 4,881751
110 59,536277 60 25,274142
111 60,703212 60 89,452006
112 60,536507 60 37,35553
113 60,703212 60 67,775643
114 61,036622 60 100
115 61,536736 60 100
116 61,703441 60 100
117 61,703441 60 100
118 61,703441 60 100
119 61,703441 60 84,078497
120 78,707346 60 37,414692
121 78,874051 60 37,748102
 122 78,874051 60 37,748102
123 78,874051 60 37,748102
124 79,040756 60 38,081511
125 79,040756 60 38,081511
126 79,040756 60 38,081511
127 79,040756 60 42,048336
128 79,040756 60 46,01516
129 79,040756 60 57,915632
130 79,207461 60 62,233231
131 79,207461 60 72,152752
132 79,374166 60 76,505081
133 79,374166 60 87,779021
134 79,374166 60 91,815305
135 79,374166 60 100
136 79,207461 60 100
137 24,861648 25 98,017039
138 24,694943 25 96,037073
139 24,694943 25 96,611866
140 24,694943 25 96,548312
141 24,528238 25 95,937416
142 24,361533 25 94,688174
143 24,361533 25 94,323863
144 24,361533 25 94,991032
145 24,028123 25 92,290073
146 24,194828 25 94,838925
147 24,194828 60 4,506159
148 24,028123 60 0
149 24,028123 60 0
150 24,028123 60 0
151 24,194828 60 0
152 24,361533 60 0
153 24,528238 60 0
154 25,028353 60 0
155 25,861878 60 0

RUN6
Time (s) Level (%) Setpoint (%) Output (%)
0 61,870146 60 100
1 62,036851 60 100
2 61,870146 60 100
3 61,870146 60 100
4 61,703441 60 69,546203
5 61,203326 60 20,729438
6 62,036851 60 100
7 61,870146 60 100
8 61,870146 60 100
9 61,870146 60 100
10 61,703441 60 100
11 61,370031 60 66,767787
12 61,036622 60 60,150437
13 60,869917 60 62,600163
14 60,703212 60 93,685915
15 60,369802 60 43,947552
16 60,369802 60 82,118264
17 60,036392 60 26,82307
18 59,869687 60 13,398601
19 59,869687 60 43,234066
20 59,702982 60 25,641973
21 59,702982 60 20,691673
22 59,702982 60 15,741372
23 59,702982 60 42,173991
24 59,702982 60 5,216341
25 59,702982 60 0,26604
26 59,702982 60 0
27 60,203097 60 71,928464
28 60,036392 60 0
29 60,369802 60 91,340149
30 60,536507 60 100
31 60,536507 60 100
32 60,369802 60 49,98316
33 60,536507 60 100
34 60,536507 60 100
35 60,369802 60 93,521571
36 60,203097 60 53,646584
37 60,203097 60 89,03888
38 60,036392 60 46,385477
39 59,869687 60 32,961009
40 59,869687 60 32,178331
41 59,702982 60 15,975447
42 59,702982 60 73,650638
43 59,369572 60 0
44 59,536277 60 12,154855
45 59,536277 60 4,426139
46 59,536277 60 0
47 59,869687 60 23,111699
48 59,869687 60 20,939814
49 59,869687 60 18,767929
50 59,869687 60 16,596044
51 60,036392 60 29,844366
52 59,869687 60 15,03069
53 60,036392 60 28,279012
54 60,203097 60 100
55 60,369802 60 90,950631
56 60,203097 60 49,686436
57 60,036392 60 68,269317
58 60,369802 60 98,327055
 59 60,536507 60 100
60 60,536507 60 100
61 60,536507 60 100
62 60,369802 60 58,43254
63 60,536507 60 100
64 60,536507 60 100
65 60,369802 60 58,43254
66 60,369802 60 58,43254
67 60,203097 60 81,183044
68 60,036392 60 38,529642
69 59,869687 60 55,723315
70 59,702982 60 38,131222
71 59,702982 60 33,180921
72 59,702982 60 28,230621
73 59,536277 60 0
74 59,702982 60 16,940812
75 59,702982 60 11,990511
76 59,536277 60 0
77 59,869687 60 53,72984
78 59,869687 60 19,550606
79 60,036392 60 32,798928
80 60,036392 60 33,405459
81 60,036392 60 34,01199
82 60,203097 60 80,65687
83 60,203097 60 52,034467
84 60,203097 60 55,419414
85 59,369572 60 0
86 59,536277 60 0
87 59,702982 60 13,993774
88 59,702982 60 0
89 60,203097 60 82,361145
90 60,036392 60 7,700393
91 60,036392 60 40,314273
92 60,203097 60 86,959154
93 60,203097 60 88,954892
94 60,369802 60 75,752697
95 60,536507 60 100
96 60,369802 60 58,43254
97 60,703212 60 100
98 60,703212 60 100
99 60,536507 60 100
100 60,536507 60 100
101 60,536507 60 59,821748
102 60,869917 60 100
103 60,369802 60 7,001703
104 60,369802 60 46,561623
105 60,369802 60 84,732336
106 60,203097 60 75,47549
107 60,536507 60 59,821748
108 60,703212 60 100
109 60,703212 60 100
110 60,703212 60 100
 111 60,536507 60 99,9075
112 60,536507 60 100
113 60,369802 60 98,960813
114 59,702982 60 96,842153
115 59,702982 60 98,318763
116 59,702982 60 98,195006
117 59,036162 60 95,763774
118 58,702752 60 94,625895
119 58,869457 60 96,036517
120 58,702752 60 94,379769
121 58,702752 60 93,073796
122 58,702752 60 94,098913
123 58,369342 60 91,221745
124 58,369342 60 91,342488
125 58,369342 60 90,663048
126 79,040756 60 38,081511
127 79,040756 60 42,048336
128 79,040756 60 46,01516
129 79,040756 60 57,915632
130 79,207461 60 62,233231
131 79,207461 60 72,152752
132 79,374166 60 76,505081
133 79,374166 60 87,779021
134 79,374166 60 91,815305
135 79,374166 60 100
136 79,207461 60 100
137 24,861648 25 98,017039
138 24,694943 25 96,037073
139 24,694943 25 96,611866
140 24,694943 25 96,548312
141 24,528238 25 95,937416
142 24,361533 25 94,688174
143 24,361533 25 94,323863
144 24,361533 25 94,991032
145 24,028123 25 92,290073
146 24,194828 25 94,838925
147 24,194828 60 4,506159
148 24,028123 60 0
149 24,028123 60 0
150 24,028123 60 0
151 24,194828 60 0
152 24,361533 60 0
153 24,528238 60 0
154 25,028353 60 0
155 25,861878 60 0

RUN7
Time (s) Level (%) Setpoint (%) Output (%)
0 63,370491 60 6,740982
1 63,037081 60 4,484751
2 63,370491 60 6,762896
3 63,370491 60 6,774131
4 63,037081 60 6,117712
5 63,037081 60 3,728118
6 63,537196 60 7,140273
7 63,537196 60 7,152064
8 63,537196 60 7,163854
9 63,370491 60 8,44163
10 64,037311 60 10,587522
11 64,204016 60 8,534255
12 64,37072 60 8,882095
13 64,70413 60 9,564318
14 65,37095 60 13,315022
15 65,871065 60 14,333572
16 66,03777 60 13,086324
17 66,204475 60 13,439998
18 66,537885 60 14,128055
19 67,038 60 15,950956
20 67,204705 60 15,507781
21 67,538114 60 16,199172
22 68,038229 60 18,025408
23 68,371639 60 17,919393
24 68,871754 60 19,748407
25 69,205164 60 19,645171
26 69,538574 60 20,34323
27 70,038689 60 22,176134
28 70,372099 60 22,076788
29 70,538803 60 22,44491
30 71,038918 60 23,481242
31 71,205623 60 23,051681
32 71,705738 60 24,890419
33 72,372558 60 27,064373
34 72,539263 60 26,63898
35 72,872673 60 27,348153
36 73,372788 60 28,392264
37 73,539493 60 28,770388
38 73,706197 60 29,149069
39 74,206312 60 30,995864
40 74,206312 60 30,242757
41 74,539722 60 30,957487
42 74,706427 60 30,539596
43 74,873132 60 31,72235
44 75,206542 60 32,439302
45 75,373247 60 32,823539
46 75,539952 60 33,208332
47 75,706657 60 33,593681
48 75,706657 60 33,645759
49 75,873362 60 34,031663
50 75,873362 60 33,284391
51 75,873362 60 33,337302
52 76,206772 60 34,857772
53 76,206772 60 34,111611
54 76,373477 60 35,299366
55 76,373477 60 34,553761
56 76,373477 60 34,608339
57 76,540182 60 35,79665
58 76,540182 60 35,0516
59 76,706886 60 36,240466
60 76,706886 60 36,295878
61 76,873591 60 36,685117
62 76,706886 60 35,607351
63 76,873591 60 36,796774
64 76,873591 60 36,052835
65 76,873591 60 36,109081
66 77,040296 60 36,499152
67 77,040296 60 36,555953
68 77,207001 60 37,746487
69 77,373706 60 38,937298
70 77,207001 60 37,061017
71 76,873591 60 35,650814
72 77,040296 60 37,640976
73 77,040296 60 36,097687
74 77,040296 60 38,554484
75 77,373706 60 39,278382
76 77,707116 60 41,603204
77 77,373706 60 37,793839
78 77,373706 60 37,851752
79 77,373706 60 37,909664
80 77,373706 60 37,967576
81 77,540411 60 38,359315
82 77,707116 60 39,551516
83 77,707116 60 38,810356
84 77,207001 60 36,268088
85 77,707116 60 38,927292
86 77,207001 60 35,585118
87 77,707116 60 41,444224
88 77,707116 60 42,30232
89 77,707116 60 40,76042
90 78,207231 60 41,020462
91 78,207231 60 40,28097
92 78,207231 60 41,141566
93 78,373936 60 41,535806
94 78,373936 60 40,796868
95 78,373936 60 40,858115
96 78,373936 60 40,919361
97 78,373936 60 41,780514
 98 78,207231 60 39,907844
99 78,373936 60 41,902451
100 78,373936 60 41,163514
101 78,373936 60 41,22476
102 78,373936 60 41,286007
103 78,373936 60 41,347253
104 78,540641 60 42,542232
105 78,707346 60 42,937583
106 78,707346 60 42,199757
107 78,874051 60 43,395847
108 78,874051 60 43,458483
109 78,874051 60 42,721213
110 79,040756 60 43,917859
111 79,040756 60 43,181144
112 79,040756 60 43,244614
113 79,040756 60 43,308083
114 79,040756 60 43,371552
115 79,040756 60 42,635115
116 79,040756 60 43,498768
117 79,207461 60 43,896064
118 79,207461 60 43,960089
119 79,040756 60 42,890381
120 79,040756 60 45,353846
121 79,040756 60 43,816948
122 58,702752 60 94,098913
123 58,369342 60 91,221745
124 58,369342 60 91,342488
125 58,369342 60 90,663048
126 79,040756 60 38,081511
127 79,040756 60 42,048336
128 79,040756 60 46,01516
129 79,040756 60 57,915632
130 79,207461 60 62,233231
131 79,207461 60 72,152752
132 79,374166 60 76,505081
133 79,374166 60 87,779021
134 79,374166 60 91,815305
135 79,374166 60 100
136 79,207461 60 100
137 24,861648 25 98,017039
138 24,694943 25 96,037073
139 24,694943 25 96,611866
140 24,694943 25 96,548312
141 24,528238 25 95,937416
142 24,361533 25 94,688174
143 24,361533 25 94,323863
144 24,361533 25 94,991032
145 24,028123 25 92,290073
146 24,194828 25 94,838925
147 24,194828 60 4,506159
148 24,028123 60 0
149 24,028123 60 0
 150 24,028123 60 0
151 24,194828 60 0
152 24,361533 60 0
153 24,528238 60 0
154 25,028353 60 0
155 25,861878 60 0

Table 6: Raw data for effect of varying different controllers