0 0 0 0.1 1000 s 1 0 original 0 sundials 0 dassl 1e-3 1e-6 1e-2 2000 1000 1 1028 403 -31 0 0.2 1028 0 0 0 PID_Tuning FODs 384 116 0 42.7 40.6 379 157 Kp 1 50 4 Taup 1 30 4 Km 1 1 4 Taum 1 10 4 Kf 1 0.016 4 Tauf 1 3 4 PID_Tuning FOPDT 482 117 0 42.7 40.6 472 158 Kp 1 0.8 4 Taup 1 33.8 4 t0p 1 11.2 4 Km 1 0 4 Kf 1 0 4 Taum 1 0 4 Tauf 1 0 4