TMS320F28069: PID - Is There an FAQ? Output is just Umax, Umin.

John Westmoreland43

Part Number: TMS320F28069
Other Parts Discussed in Thread: C2000WARE,

Hello All,

I've added the PID example here: X:\ti\c2000\C2000Ware_1_00_04_00\libraries\control\DCL\c28\examples\F28069_PID

to my code - just trying to control a PWM output - and no matter what I seem to do - the PID output just 'bounces' between what I've set for Umax and Umin.

I've read the DCL doc which is a little sparse; I was wondering if there is an FAQ posted someplace regarding the TI provided PID code; and maybe seeing

the output alternate between Umax and Umin is just a config option I've goofed.

Thanks In Advance,
John W.

over 7 years ago

0 John Westmoreland43 over 7 years ago in reply to Richard Poley

Guru 13945 points

Richard,

Right - I have been testing the NL PIDS C1&C2 and the Lin PIDS C1 and C4 - and have been ifdef'ing all of this - so that getting set to 0.7 instead of 1 was a bit of a mistake - but I will do that now and make sure it's always 1.

Thanks,
John

0 John Westmoreland43 over 7 years ago in reply to John Westmoreland43

Guru 13945 points

Richard,

Here are two runs - open loop - l(k) set to 1 - NL PID C2 - y(k) varying from 0.99 to 0.00: (Umax 0.70, Umin -0.50)

CH:34,CL:60, D705.600037, uk:-0.020000, lk:1.000000, PDC:51.00002, DC:4 EF:0, rk:0.960000, yk:0.920000
CH:24,CL:70, D738.115173, uk:0.025160, lk:1.000000, PDC:48.742001, DC:5 EF:0, rk:0.960000, yk:0.910000
CH:33,CL:63, D741.801575, uk:0.030280, lk:1.000000, PDC:48.486008, DC:1 EF:0, rk:0.960000, yk:0.900000
CH:37,CL:57, D745.502380, uk:0.035420, lk:1.000000, PDC:48.229004, DC:2 EF:0, rk:0.960000, yk:0.890000
CH:45,CL:52, D749.217651, uk:0.040580, lk:1.000000, PDC:47.970997, DC:3 EF:0, rk:0.960000, yk:0.880000
CH:44,CL:50, D752.947205, uk:0.045760, lk:1.000000, PDC:47.712006, DC:4 EF:0, rk:0.960000, yk:0.870000
CH:39,CL:55, D756.691223, uk:0.050960, lk:1.000000, PDC:47.452003, DC:5 EF:0, rk:0.960000, yk:0.860000
CH:32,CL:62, D760.449585, uk:0.056180, lk:1.000000, PDC:47.191006, DC:1 EF:0, rk:0.960000, yk:0.850000
CH:28,CL:67, D764.222351, uk:0.061420, lk:1.000000, PDC:46.929008, DC:2 EF:0, rk:0.960000, yk:0.840000
CH:21,CL:73, D768.009583, uk:0.066680, lk:1.000000, PDC:46.666000, DC:3 EF:0, rk:0.960000, yk:0.830000
CH:17,CL:77, D771.811157, uk:0.071960, lk:1.000000, PDC:46.402008, DC:4 EF:0, rk:0.960000, yk:0.820000
CH:12,CL:82, D775.627197, uk:0.077260, lk:1.000000, PDC:46.137005, DC:5 EF:0, rk:0.960000, yk:0.810000
CH:102,CL:94, D779.457581, uk:0.082580, lk:1.000000, PDC:45.871006, DC:1 EF:0, rk:0.960000, yk:0.800000
CH:102,CL:95, D783.302368, uk:0.087920, lk:1.000000, PDC:45.604004, DC:2 EF:0, rk:0.960000, yk:0.790000
CH:100,CL:95, D787.161560, uk:0.093280, lk:1.000000, PDC:45.336006, DC:3 EF:0, rk:0.960000, yk:0.780000
CH:103,CL:87, D791.035217, uk:0.098660, lk:1.000000, PDC:45.067001, DC:4 EF:0, rk:0.960000, yk:0.770000
CH:12,CL:85, D794.923157, uk:0.104060, lk:1.000000, PDC:44.797009, DC:5 EF:0, rk:0.960000, yk:0.760000
CH:15,CL:79, D798.825623, uk:0.109480, lk:1.000000, PDC:44.525997, DC:1 EF:0, rk:0.960000, yk:0.750000
CH:20,CL:74, D802.742432, uk:0.114920, lk:1.000000, PDC:44.253998, DC:2 EF:0, rk:0.960000, yk:0.740000
CH:23,CL:71, D806.673645, uk:0.120380, lk:1.000000, PDC:43.980999, DC:3 EF:0, rk:0.960000, yk:0.730000
CH:28,CL:66, D810.619202, uk:0.125860, lk:1.000000, PDC:43.707001, DC:4 EF:0, rk:0.960000, yk:0.720000
CH:34,CL:63, D814.579224, uk:0.131360, lk:1.000000, PDC:43.432003, DC:5 EF:0, rk:0.960000, yk:0.710000
CH:36,CL:59, D818.553650, uk:0.136880, lk:1.000000, PDC:43.155998, DC:1 EF:0, rk:0.960000, yk:0.700000
CH:41,CL:54, D822.542419, uk:0.142420, lk:1.000000, PDC:42.879002, DC:2 EF:0, rk:0.960000, yk:0.690000
CH:43,CL:52, D826.545593, uk:0.147980, lk:1.000000, PDC:42.601002, DC:3 EF:0, rk:0.960000, yk:0.680000
CH:47,CL:48, D830.563232, uk:0.153560, lk:1.000000, PDC:42.322002, DC:4 EF:0, rk:0.960000, yk:0.670000
CH:45,CL:52, D834.595215, uk:0.159160, lk:1.000000, PDC:42.042004, DC:5 EF:0, rk:0.960000, yk:0.660000
CH:41,CL:54, D889.116150, uk:0.234884, lk:1.000000, PDC:38.255829, DC:1 EF:0, rk:0.960000, yk:0.650000
CH:38,CL:57, D893.789307, uk:0.241374, lk:1.000000, PDC:37.931297, DC:2 EF:0, rk:0.960000, yk:0.640000
CH:37,CL:59, D898.451416, uk:0.247849, lk:1.000000, PDC:37.607544, DC:3 EF:0, rk:0.960000, yk:0.630000
CH:34,CL:60, D903.103455, uk:0.254310, lk:1.000000, PDC:37.284489, DC:4 EF:0, rk:0.960000, yk:0.620000
CH:34,CL:63, D907.746277, uk:0.260759, lk:1.000000, PDC:36.962067, DC:5 EF:0, rk:0.960000, yk:0.610000
CH:32,CL:62, D912.380798, uk:0.267196, lk:1.000000, PDC:36.640228, DC:1 EF:0, rk:0.960000, yk:0.600000
CH:30,CL:65, D917.007629, uk:0.273622, lk:1.000000, PDC:36.318916, DC:2 EF:0, rk:0.960000, yk:0.590000
CH:30,CL:67, D921.627441, uk:0.280038, lk:1.000000, PDC:35.998100, DC:3 EF:0, rk:0.960000, yk:0.580000
CH:28,CL:66, D926.241028, uk:0.286446, lk:1.000000, PDC:35.677711, DC:4 EF:0, rk:0.960000, yk:0.570000
CH:28,CL:69, D930.848938, uk:0.292846, lk:1.000000, PDC:35.357712, DC:5 EF:0, rk:0.960000, yk:0.560000
CH:27,CL:68, D935.451782, uk:0.299239, lk:1.000000, PDC:35.038071, DC:1 EF:0, rk:0.960000, yk:0.550000
CH:25,CL:69, D940.050171, uk:0.305625, lk:1.000000, PDC:34.718742, DC:2 EF:0, rk:0.960000, yk:0.540000
CH:24,CL:71, D944.644653, uk:0.312006, lk:1.000000, PDC:34.399681, DC:3 EF:0, rk:0.960000, yk:0.530000
CH:25,CL:69, D949.235596, uk:0.318383, lk:1.000000, PDC:34.080864, DC:4 EF:0, rk:0.960000, yk:0.520000
CH:24,CL:70, D953.823547, uk:0.324755, lk:1.000000, PDC:33.762260, DC:5 EF:0, rk:0.960000, yk:0.510000
CH:24,CL:70, D958.408997, uk:0.331124, lk:1.000000, PDC:33.443825, DC:1 EF:0, rk:0.960000, yk:0.500000
CH:24,CL:70, D962.992432, uk:0.337489, lk:1.000000, PDC:33.125534, DC:2 EF:0, rk:0.960000, yk:0.490000
CH:24,CL:71, D967.574158, uk:0.343853, lk:1.000000, PDC:32.807358, DC:3 EF:0, rk:0.960000, yk:0.480000 <== Plant Output of Interest
CH:26,CL:72, D972.154602, uk:0.350215, lk:1.000000, PDC:32.489273, DC:4 EF:0, rk:0.960000, yk:0.470000
CH:24,CL:70, D976.734009, uk:0.356575, lk:1.000000, PDC:32.171257, DC:5 EF:0, rk:0.960000, yk:0.460000
CH:24,CL:70, D981.313049, uk:0.362935, lk:1.000000, PDC:31.853264, DC:1 EF:0, rk:0.960000, yk:0.450000
CH:27,CL:70, D985.891785, uk:0.369294, lk:1.000000, PDC:31.535301, DC:2 EF:0, rk:0.960000, yk:0.440000
CH:27,CL:67, D990.470703, uk:0.375654, lk:1.000000, PDC:31.217316, DC:3 EF:0, rk:0.960000, yk:0.430000
CH:27,CL:67, D995.050049, uk:0.382014, lk:1.000000, PDC:30.899307, DC:4 EF:0, rk:0.960000, yk:0.420000
CH:27,CL:67, D999.630005, uk:0.388375, lk:1.000000, PDC:30.581253, DC:5 EF:0, rk:0.960000, yk:0.410000
CH:30,CL:67, D1004.211182, uk:0.394738, lk:1.000000, PDC:30.263115, DC:1 EF:0, rk:0.960000, yk:0.400000
CH:31,CL:64, D1008.793579, uk:0.401102, lk:1.000000, PDC:29.944901, DC:2 EF:0, rk:0.960000, yk:0.390000
CH:32,CL:63, D1013.377563, uk:0.407469, lk:1.000000, PDC:29.626556, DC:3 EF:0, rk:0.960000, yk:0.380000
CH:32,CL:63, D1017.963379, uk:0.413838, lk:1.000000, PDC:29.308105, DC:4 EF:0, rk:0.960000, yk:0.370000
CH:35,CL:61, D1022.551208, uk:0.420210, lk:1.000000, PDC:28.989502, DC:5 EF:0, rk:0.960000, yk:0.360000
CH:37,CL:58, D1027.141479, uk:0.426585, lk:1.000000, PDC:28.670731, DC:1 EF:0, rk:0.960000, yk:0.350000
CH:38,CL:56, D1031.734131, uk:0.432964, lk:1.000000, PDC:28.351799, DC:2 EF:0, rk:0.960000, yk:0.340000
CH:39,CL:55, D1036.329468, uk:0.439347, lk:1.000000, PDC:28.032677, DC:3 EF:0, rk:0.960000, yk:0.330000
CH:41,CL:54, D1040.927979, uk:0.445733, lk:1.000000, PDC:27.713341, DC:4 EF:0, rk:0.960000, yk:0.320000
CH:45,CL:52, D1045.529663, uk:0.452124, lk:1.000000, PDC:27.393776, DC:5 EF:0, rk:0.960000, yk:0.310000
CH:47,CL:50, D1050.134521, uk:0.458520, lk:1.000000, PDC:27.073997, DC:1 EF:0, rk:0.960000, yk:0.300000
CH:47,CL:50, D1054.743164, uk:0.464921, lk:1.000000, PDC:26.753952, DC:2 EF:0, rk:0.960000, yk:0.290000
CH:43,CL:51, D1059.355347, uk:0.471327, lk:1.000000, PDC:26.433655, DC:3 EF:0, rk:0.960000, yk:0.280000
CH:40,CL:54, D1063.971680, uk:0.477738, lk:1.000000, PDC:26.113083, DC:4 EF:0, rk:0.960000, yk:0.270000
CH:38,CL:57, D1068.591919, uk:0.484155, lk:1.000000, PDC:25.792236, DC:5 EF:0, rk:0.960000, yk:0.260000
CH:36,CL:58, D1073.216431, uk:0.490578, lk:1.000000, PDC:25.471085, DC:1 EF:0, rk:0.960000, yk:0.250000
CH:33,CL:61, D1077.845337, uk:0.497008, lk:1.000000, PDC:25.149628, DC:2 EF:0, rk:0.960000, yk:0.240000
CH:30,CL:65, D1082.479004, uk:0.503443, lk:1.000000, PDC:24.827850, DC:3 EF:0, rk:0.960000, yk:0.230000
CH:26,CL:68, D1087.117310, uk:0.509885, lk:1.000000, PDC:24.505745, DC:4 EF:0, rk:0.960000, yk:0.220000
CH:23,CL:72, D1091.760376, uk:0.516334, lk:1.000000, PDC:24.183311, DC:5 EF:0, rk:0.960000, yk:0.210000
CH:19,CL:75, D1096.408569, uk:0.522790, lk:1.000000, PDC:23.860519, DC:1 EF:0, rk:0.960000, yk:0.200000
CH:16,CL:78, D1101.062012, uk:0.529253, lk:1.000000, PDC:23.537369, DC:2 EF:0, rk:0.960000, yk:0.190000
CH:14,CL:81, D1105.720581, uk:0.535723, lk:1.000000, PDC:23.213852, DC:3 EF:0, rk:0.960000, yk:0.180000
CH:10,CL:84, D1110.384521, uk:0.542201, lk:1.000000, PDC:22.889969, DC:4 EF:0, rk:0.960000, yk:0.170000
CH:102,CL:88, D1115.054199, uk:0.548686, lk:1.000000, PDC:22.565689, DC:5 EF:0, rk:0.960000, yk:0.160000
CH:98,CL:95, D1119.729492, uk:0.555180, lk:1.000000, PDC:22.241013, DC:1 EF:0, rk:0.960000, yk:0.150000
CH:100,CL:94, D1124.410522, uk:0.561681, lk:1.000000, PDC:21.915939, DC:2 EF:0, rk:0.960000, yk:0.140000
CH:102,CL:90, D1129.097412, uk:0.568191, lk:1.000000, PDC:21.590462, DC:3 EF:0, rk:0.960000, yk:0.130000
CH:10,CL:87, D1133.790405, uk:0.574709, lk:1.000000, PDC:21.264557, DC:4 EF:0, rk:0.960000, yk:0.120000
CH:14,CL:83, D1138.489502, uk:0.581235, lk:1.000000, PDC:20.938232, DC:5 EF:0, rk:0.960000, yk:0.110000
CH:18,CL:77, D1143.194946, uk:0.587771, lk:1.000000, PDC:20.611465, DC:1 EF:0, rk:0.960000, yk:0.100000
CH:22,CL:72, D1147.906494, uk:0.594315, lk:1.000000, PDC:20.284279, DC:2 EF:0, rk:0.960000, yk:0.090000
CH:27,CL:67, D1152.624634, uk:0.600867, lk:1.000000, PDC:19.956627, DC:3 EF:0, rk:0.960000, yk:0.080000
CH:32,CL:62, D1157.349243, uk:0.607430, lk:1.000000, PDC:19.628532, DC:4 EF:0, rk:0.960000, yk:0.070000
CH:36,CL:58, D1162.080444, uk:0.614001, lk:1.000000, PDC:19.299973, DC:5 EF:0, rk:0.960000, yk:0.060000
CH:41,CL:53, D1166.818481, uk:0.620581, lk:1.000000, PDC:18.970940, DC:1 EF:0, rk:0.960000, yk:0.050000
CH:47,CL:48, D1171.563354, uk:0.627171, lk:1.000000, PDC:18.641434, DC:2 EF:0, rk:0.960000, yk:0.040000
CH:43,CL:52, D1176.314941, uk:0.633771, lk:1.000000, PDC:18.311462, DC:3 EF:0, rk:0.960000, yk:0.030000
CH:38,CL:57, D1181.073730, uk:0.640380, lk:1.000000, PDC:17.980995, DC:4 EF:0, rk:0.960000, yk:0.020000
CH:32,CL:63, D1185.839478, uk:0.646999, lk:1.000000, PDC:17.650047, DC:5 EF:0, rk:0.960000, yk:0.010000
CH:26,CL:68, D1190.612427, uk:0.653628, lk:1.000000, PDC:17.318588, DC:1 EF:0, rk:0.960000, yk:0.000000
CH:21,CL:73, D779.524597, uk:0.082673, lk:1.000000, PDC:45.866352, DC:2 EF:0, rk:0.960000, yk:0.990000
CH:22,CL:72, D783.095825, uk:0.087633, lk:1.000000, PDC:45.618351, DC:3 EF:0, rk:0.960000, yk:0.980000
CH:25,CL:69, D786.681458, uk:0.092613, lk:1.000000, PDC:45.369347, DC:4 EF:0, rk:0.960000, yk:0.970000
CH:29,CL:68, D790.281433, uk:0.097613, lk:1.000000, PDC:45.119350, DC:5 EF:0, rk:0.960000, yk:0.960000
CH:33,CL:62, D793.895874, uk:0.102633, lk:1.000000, PDC:44.868343, DC:1 EF:0, rk:0.960000, yk:0.950000
CH:35,CL:59, D797.524597, uk:0.107673, lk:1.000000, PDC:44.616352, DC:2 EF:0, rk:0.960000, yk:0.940000
CH:39,CL:56, D801.167786, uk:0.112733, lk:1.000000, PDC:44.363350, DC:3 EF:0, rk:0.960000, yk:0.930000
CH:42,CL:55, D804.825439, uk:0.117813, lk:1.000000, PDC:44.109352, DC:4 EF:0, rk:0.960000, yk:0.920000
CH:44,CL:49, D808.497437, uk:0.122913, lk:1.000000, PDC:43.854351, DC:5 EF:0, rk:0.960000, yk:0.910000
CH:46,CL:49, D812.183777, uk:0.128033, lk:1.000000, PDC:43.598354, DC:1 EF:0, rk:0.960000, yk:0.900000
CH:46,CL:52, D815.884644, uk:0.133173, lk:1.000000, PDC:43.341343, DC:2 EF:0, rk:0.960000, yk:0.890000
CH:42,CL:54, D819.599792, uk:0.138333, lk:1.000000, PDC:43.083351, DC:3 EF:0, rk:0.960000, yk:0.880000
CH:40,CL:55, D823.329407, uk:0.143513, lk:1.000000, PDC:42.824352, DC:4 EF:0, rk:0.960000, yk:0.870000
CH:35,CL:62, D827.073425, uk:0.148713, lk:1.000000, PDC:42.564350, DC:5 EF:0, rk:0.960000, yk:0.860000
CH:32,CL:64, D830.831787, uk:0.153933, lk:1.000000, PDC:42.303352, DC:1 EF:0, rk:0.960000, yk:0.850000
CH:30,CL:65, D834.604553, uk:0.159173, lk:1.000000, PDC:42.041355, DC:2 EF:0, rk:0.960000, yk:0.840000
CH:28,CL:69, D838.391785, uk:0.164433, lk:1.000000, PDC:41.778351, DC:3 EF:0, rk:0.960000, yk:0.830000
CH:25,CL:69, D842.193359, uk:0.169713, lk:1.000000, PDC:41.514355, DC:4 EF:0, rk:0.960000, yk:0.820000
CH:24,CL:74, D846.009399, uk:0.175013, lk:1.000000, PDC:41.249352, DC:5 EF:0, rk:0.960000, yk:0.810000
CH:22,CL:76, D849.839844, uk:0.180333, lk:1.000000, PDC:40.983349, DC:1 EF:0, rk:0.960000, yk:0.800000
CH:18,CL:77, D853.684631, uk:0.185673, lk:1.000000, PDC:40.716351, DC:2 EF:0, rk:0.960000, yk:0.790000
CH:18,CL:79, D857.543823, uk:0.191033, lk:1.000000, PDC:40.448349, DC:3 EF:0, rk:0.960000, yk:0.780000
CH:14,CL:80, D861.417358, uk:0.196413, lk:1.000000, PDC:40.179356, DC:4 EF:0, rk:0.960000, yk:0.770000
CH:13,CL:81, D865.305420, uk:0.201813, lk:1.000000, PDC:39.909351, DC:5 EF:0, rk:0.960000, yk:0.760000
CH:12,CL:83, D869.207825, uk:0.207233, lk:1.000000, PDC:39.638348, DC:1 EF:0, rk:0.960000, yk:0.750000
CH:10,CL:84, D873.124634, uk:0.212673, lk:1.000000, PDC:39.366348, DC:2 EF:0, rk:0.960000, yk:0.740000
CH:10,CL:85, D877.055847, uk:0.218133, lk:1.000000, PDC:39.093346, DC:3 EF:0, rk:0.960000, yk:0.730000
CH:9,CL:88, D881.001404, uk:0.223613, lk:1.000000, PDC:38.819347, DC:4 EF:0, rk:0.960000, yk:0.720000
CH:6,CL:89, D884.961426, uk:0.229113, lk:1.000000, PDC:38.544350, DC:5 EF:0, rk:0.960000, yk:0.710000
CH:101,CL:90, D888.935852, uk:0.234633, lk:1.000000, PDC:38.268345, DC:1 EF:0, rk:0.960000, yk:0.700000
CH:101,CL:90, D892.924622, uk:0.240173, lk:1.000000, PDC:37.991352, DC:2 EF:0, rk:0.960000, yk:0.690000
CH:102,CL:95, D896.927795, uk:0.245733, lk:1.000000, PDC:37.713348, DC:3 EF:0, rk:0.960000, yk:0.680000
CH:101,CL:94, D900.945435, uk:0.251313, lk:1.000000, PDC:37.434353, DC:4 EF:0, rk:0.960000, yk:0.670000
CH:101,CL:95, D904.977417, uk:0.256913, lk:1.000000, PDC:37.154354, DC:5 EF:0, rk:0.960000, yk:0.660000
CH:101,CL:95, D959.498352, uk:0.332637, lk:1.000000, PDC:33.368179, DC:1 EF:0, rk:0.960000, yk:0.650000
CH:102,CL:97, D964.171509, uk:0.339127, lk:1.000000, PDC:33.043648, DC:2 EF:0, rk:0.960000, yk:0.640000
CH:100,CL:95, D968.833618, uk:0.345602, lk:1.000000, PDC:32.719894, DC:3 EF:0, rk:0.960000, yk:0.630000
CH:102,CL:94, D973.485657, uk:0.352063, lk:1.000000, PDC:32.396835, DC:4 EF:0, rk:0.960000, yk:0.620000
CH:101,CL:94, D978.128601, uk:0.358512, lk:1.000000, PDC:32.074409, DC:5 EF:0, rk:0.960000, yk:0.610000
CH:101,CL:90, D982.763000, uk:0.364949, lk:1.000000, PDC:31.752571, DC:1 EF:0, rk:0.960000, yk:0.600000
CH:102,CL:87, D987.389832, uk:0.371375, lk:1.000000, PDC:31.431267, DC:2 EF:0, rk:0.960000, yk:0.590000
CH:8,CL:86, D992.009644, uk:0.377791, lk:1.000000, PDC:31.110451, DC:3 EF:0, rk:0.960000, yk:0.580000
CH:8,CL:86, D996.623230, uk:0.384199, lk:1.000000, PDC:30.790054, DC:4 EF:0, rk:0.960000, yk:0.570000
CH:11,CL:84, D1001.231140, uk:0.390599, lk:1.000000, PDC:30.470062, DC:5 EF:0, rk:0.960000, yk:0.560000
CH:12,CL:83, D1005.834045, uk:0.396992, lk:1.000000, PDC:30.150421, DC:1 EF:0, rk:0.960000, yk:0.550000
CH:14,CL:80, D1010.432434, uk:0.403378, lk:1.000000, PDC:29.831085, DC:2 EF:0, rk:0.960000, yk:0.540000
CH:17,CL:78, D1015.026855, uk:0.409759, lk:1.000000, PDC:29.512032, DC:3 EF:0, rk:0.960000, yk:0.530000
CH:17,CL:77, D1019.617798, uk:0.416136, lk:1.000000, PDC:29.193207, DC:4 EF:0, rk:0.960000, yk:0.520000
CH:20,CL:75, D1024.205811, uk:0.422508, lk:1.000000, PDC:28.874603, DC:5 EF:0, rk:0.960000, yk:0.510000
CH:21,CL:73, D1028.791260, uk:0.428877, lk:1.000000, PDC:28.556168, DC:1 EF:0, rk:0.960000, yk:0.500000
CH:25,CL:70, D1033.374634, uk:0.435243, lk:1.000000, PDC:28.237877, DC:2 EF:0, rk:0.960000, yk:0.490000
CH:27,CL:68, D1037.956299, uk:0.441606, lk:1.000000, PDC:27.919701, DC:3 EF:0, rk:0.960000, yk:0.480000 <== Plant Output of Interest
CH:30,CL:65, D1042.536743, uk:0.447968, lk:1.000000, PDC:27.601616, DC:4 EF:0, rk:0.960000, yk:0.470000
CH:31,CL:63, D1047.116333, uk:0.454328, lk:1.000000, PDC:27.283592, DC:5 EF:0, rk:0.960000, yk:0.460000
CH:34,CL:61, D1051.695313, uk:0.460688, lk:1.000000, PDC:26.965607, DC:1 EF:0, rk:0.960000, yk:0.450000
CH:38,CL:57, D1056.274048, uk:0.467047, lk:1.000000, PDC:26.647636, DC:2 EF:0, rk:0.960000, yk:0.440000
CH:39,CL:55, D1060.852905, uk:0.473407, lk:1.000000, PDC:26.329666, DC:3 EF:0, rk:0.960000, yk:0.430000
CH:42,CL:53, D1065.432251, uk:0.479767, lk:1.000000, PDC:26.011650, DC:4 EF:0, rk:0.960000, yk:0.420000
CH:47,CL:48, D1070.012329, uk:0.486128, lk:1.000000, PDC:25.693596, DC:5 EF:0, rk:0.960000, yk:0.410000
CH:46,CL:49, D1074.593384, uk:0.492491, lk:1.000000, PDC:25.375458, DC:1 EF:0, rk:0.960000, yk:0.400000
CH:41,CL:53, D1079.175903, uk:0.498855, lk:1.000000, PDC:25.057236, DC:2 EF:0, rk:0.960000, yk:0.390000
CH:40,CL:55, D1083.759766, uk:0.505222, lk:1.000000, PDC:24.738907, DC:3 EF:0, rk:0.960000, yk:0.380000
CH:36,CL:59, D1088.345581, uk:0.511591, lk:1.000000, PDC:24.420456, DC:4 EF:0, rk:0.960000, yk:0.370000
CH:33,CL:64, D1092.933472, uk:0.517963, lk:1.000000, PDC:24.101845, DC:5 EF:0, rk:0.960000, yk:0.360000
CH:29,CL:66, D1097.523682, uk:0.524338, lk:1.000000, PDC:23.783081, DC:1 EF:0, rk:0.960000, yk:0.350000
CH:24,CL:70, D1102.116333, uk:0.530717, lk:1.000000, PDC:23.464149, DC:2 EF:0, rk:0.960000, yk:0.340000
CH:22,CL:75, D1106.711670, uk:0.537100, lk:1.000000, PDC:23.145027, DC:3 EF:0, rk:0.960000, yk:0.330000
CH:16,CL:78, D1111.310181, uk:0.543486, lk:1.000000, PDC:22.825691, DC:4 EF:0, rk:0.960000, yk:0.320000
CH:12,CL:82, D1115.911865, uk:0.549878, lk:1.000000, PDC:22.506126, DC:5 EF:0, rk:0.960000, yk:0.310000
CH:9,CL:85, D1120.516846, uk:0.556273, lk:1.000000, PDC:22.186333, DC:1 EF:0, rk:0.960000, yk:0.300000
CH:101,CL:95, D1125.125366, uk:0.562674, lk:1.000000, PDC:21.866295, DC:2 EF:0, rk:0.960000, yk:0.290000
CH:100,CL:95, D1129.737549, uk:0.569080, lk:1.000000, PDC:21.546005, DC:3 EF:0, rk:0.960000, yk:0.280000
CH:101,CL:97, D1134.353882, uk:0.575491, lk:1.000000, PDC:21.225426, DC:4 EF:0, rk:0.960000, yk:0.270000
CH:7,CL:87, D1138.974121, uk:0.581908, lk:1.000000, PDC:20.904579, DC:5 EF:0, rk:0.960000, yk:0.260000
CH:12,CL:82, D1143.598633, uk:0.588331, lk:1.000000, PDC:20.583435, DC:1 EF:0, rk:0.960000, yk:0.250000
CH:16,CL:79, D1148.227661, uk:0.594761, lk:1.000000, PDC:20.261971, DC:2 EF:0, rk:0.960000, yk:0.240000
CH:22,CL:72, D1152.861206, uk:0.601196, lk:1.000000, PDC:19.940201, DC:3 EF:0, rk:0.960000, yk:0.230000
CH:26,CL:69, D1157.499390, uk:0.607638, lk:1.000000, PDC:19.618103, DC:4 EF:0, rk:0.960000, yk:0.220000
CH:31,CL:64, D1162.142578, uk:0.614087, lk:1.000000, PDC:19.295654, DC:5 EF:0, rk:0.960000, yk:0.210000
CH:38,CL:59, D1166.790771, uk:0.620543, lk:1.000000, PDC:18.972870, DC:1 EF:0, rk:0.960000, yk:0.200000
CH:42,CL:52, D1171.444214, uk:0.627006, lk:1.000000, PDC:18.649712, DC:2 EF:0, rk:0.960000, yk:0.190000
CH:46,CL:48, D1176.102783, uk:0.633476, lk:1.000000, PDC:18.326202, DC:3 EF:0, rk:0.960000, yk:0.180000
CH:41,CL:54, D1180.766724, uk:0.639954, lk:1.000000, PDC:18.002312, DC:4 EF:0, rk:0.960000, yk:0.170000
CH:37,CL:58, D1185.436401, uk:0.646439, lk:1.000000, PDC:17.678032, DC:5 EF:0, rk:0.960000, yk:0.160000
CH:30,CL:65, D1190.111694, uk:0.652933, lk:1.000000, PDC:17.353363, DC:1 EF:0, rk:0.960000, yk:0.150000
CH:25,CL:70, D1194.792725, uk:0.659434, lk:1.000000, PDC:17.028290, DC:2 EF:0, rk:0.960000, yk:0.140000
CH:20,CL:75, D1199.479614, uk:0.665944, lk:1.000000, PDC:16.702805, DC:3 EF:0, rk:0.960000, yk:0.130000
CH:12,CL:82, D1204.172607, uk:0.672462, lk:1.000000, PDC:16.376907, DC:4 EF:0, rk:0.960000, yk:0.120000
CH:8,CL:88, D1208.871704, uk:0.678989, lk:1.000000, PDC:16.050583, DC:5 EF:0, rk:0.960000, yk:0.110000
CH:100,CL:95, D1213.577148, uk:0.685524, lk:1.000000, PDC:15.723816, DC:1 EF:0, rk:0.960000, yk:0.100000
CH:102,CL:94, D1218.288696, uk:0.692068, lk:1.000000, PDC:15.396622, DC:2 EF:0, rk:0.960000, yk:0.090000
CH:12,CL:86, D1223.006836, uk:0.698621, lk:1.000000, PDC:15.068970, DC:3 EF:0, rk:0.960000, yk:0.080000
CH:17,CL:78, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:4 EF:0, rk:0.960000, yk:0.070000
CH:23,CL:72, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:5 EF:0, rk:0.960000, yk:0.060000
CH:31,CL:66, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:1 EF:0, rk:0.960000, yk:0.050000
CH:37,CL:58, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:2 EF:0, rk:0.960000, yk:0.040000
CH:42,CL:52, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:3 EF:0, rk:0.960000, yk:0.030000
CH:44,CL:51, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:4 EF:0, rk:0.960000, yk:0.020000
CH:39,CL:57, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:5 EF:0, rk:0.960000, yk:0.010000
CH:31,CL:64, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:1 EF:0, rk:0.960000, yk:0.000000
CH:25,CL:70, D840.209900, uk:0.166958, lk:1.000000, PDC:41.652096, DC:2 EF:0, rk:0.960000, yk:0.990000
CH:26,CL:69, D843.781067, uk:0.171918, lk:1.000000, PDC:41.404099, DC:3 EF:0, rk:0.960000, yk:0.980000
CH:26,CL:69, D847.366638, uk:0.176898, lk:1.000000, PDC:41.155098, DC:4 EF:0, rk:0.960000, yk:0.970000

r(k) set to 2*0.48.

Thanks,
John

0 John Westmoreland43 over 7 years ago in reply to John Westmoreland43

Guru 13945 points

Richard,

And running open loop the above eventually saturates at Umax:

CH:35,CL:61, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:1 EF:0, rk:0.960000, yk:0.500000
CH:29,CL:68, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:2 EF:0, rk:0.960000, yk:0.490000
CH:23,CL:74, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:3 EF:0, rk:0.960000, yk:0.480000
CH:15,CL:80, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:4 EF:0, rk:0.960000, yk:0.470000
CH:9,CL:86, D1224.000000, uk:0.700000, lk:1.000000, PDC:15.000000, DC:5 EF:0, rk:0.960000, yk:0.460000

Thanks,
John

0 Richard Poley over 7 years ago in reply to John Westmoreland43

TI__Mastermind 27200 points

John,

My mistake. It will do that with Ki non-zero. Can you set l(k) to 0 and re-try please?

That way we'll have the integrator out of the way. At this point I just want to ascertain we have something controllable.

Regards,

Richard

0 John Westmoreland43 over 7 years ago in reply to Richard Poley

Guru 13945 points

Richard,

Sure - will post in a few min.

Thanks,
John

0 John Westmoreland43 over 7 years ago in reply to John Westmoreland43

Guru 13945 points

Richard,

OK - NLPID C2 with l(k) set to zero:

CH:24,CL:71, D705.600037, uk:-0.020000, lk:0.000000, PDC:51.00008, DC:3 EF:0, rk:0.960000, yk:0.930000
CH:31,CL:66, D734.399963, uk:0.020000, lk:0.000000, PDC:49.000008, DC:4 EF:0, rk:0.960000, yk:0.920000
CH:26,CL:68, D738.000000, uk:0.025000, lk:0.000000, PDC:48.750000, DC:5 EF:0, rk:0.960000, yk:0.910000
CH:22,CL:75, D741.599976, uk:0.030000, lk:0.000000, PDC:48.500008, DC:1 EF:0, rk:0.960000, yk:0.900000
CH:16,CL:79, D745.199951, uk:0.035000, lk:0.000000, PDC:48.250008, DC:2 EF:0, rk:0.960000, yk:0.890000
CH:12,CL:83, D748.799988, uk:0.040000, lk:0.000000, PDC:48.000000, DC:3 EF:0, rk:0.960000, yk:0.880000
CH:8,CL:87, D752.399963, uk:0.045000, lk:0.000000, PDC:47.750008, DC:4 EF:0, rk:0.960000, yk:0.870000
CH:101,CL:94, D755.999939, uk:0.050000, lk:0.000000, PDC:47.500008, DC:5 EF:0, rk:0.960000, yk:0.860000
CH:102,CL:142, D755.999939, uk:0.050000, lk:0.960000, PDC:47.500008, DC:1 EF:1, rk:0.960000, yk:0.850000
CH:101,CL:95, D763.199951, uk:0.060000, lk:0.000000, PDC:47.000008, DC:2 EF:0, rk:0.960000, yk:0.840000
CH:8,CL:88, D766.800049, uk:0.065000, lk:0.000000, PDC:46.749996, DC:3 EF:0, rk:0.960000, yk:0.830000
CH:12,CL:85, D770.399963, uk:0.070000, lk:0.000000, PDC:46.500004, DC:4 EF:0, rk:0.960000, yk:0.820000
CH:15,CL:81, D774.000061, uk:0.075000, lk:0.000000, PDC:46.249996, DC:5 EF:0, rk:0.960000, yk:0.810000
CH:19,CL:76, D777.600037, uk:0.080000, lk:0.000000, PDC:45.999996, DC:1 EF:0, rk:0.960000, yk:0.800000
CH:22,CL:73, D781.200012, uk:0.085000, lk:0.000000, PDC:45.750004, DC:2 EF:0, rk:0.960000, yk:0.790000
CH:25,CL:69, D784.800049, uk:0.090000, lk:0.000000, PDC:45.500000, DC:3 EF:0, rk:0.960000, yk:0.780000
CH:29,CL:66, D788.400024, uk:0.095000, lk:0.000000, PDC:45.250004, DC:4 EF:0, rk:0.960000, yk:0.770000
CH:32,CL:63, D792.000000, uk:0.100000, lk:0.000000, PDC:45.000004, DC:5 EF:0, rk:0.960000, yk:0.760000
CH:35,CL:60, D795.600037, uk:0.105000, lk:0.000000, PDC:44.750000, DC:1 EF:0, rk:0.960000, yk:0.750000
CH:39,CL:56, D799.200012, uk:0.110000, lk:0.000000, PDC:44.500004, DC:2 EF:0, rk:0.960000, yk:0.740000
CH:42,CL:52, D802.799988, uk:0.115000, lk:0.000000, PDC:44.250004, DC:3 EF:0, rk:0.960000, yk:0.730000
CH:45,CL:50, D806.400024, uk:0.120000, lk:0.000000, PDC:44.000000, DC:4 EF:0, rk:0.960000, yk:0.720000
CH:47,CL:48, D810.000000, uk:0.125000, lk:0.000000, PDC:43.750008, DC:5 EF:0, rk:0.960000, yk:0.710000
CH:44,CL:50, D813.599976, uk:0.130000, lk:0.000000, PDC:43.500008, DC:1 EF:0, rk:0.960000, yk:0.700000
CH:42,CL:55, D817.200012, uk:0.135000, lk:0.000000, PDC:43.250000, DC:2 EF:0, rk:0.960000, yk:0.690000
CH:37,CL:58, D820.799988, uk:0.140000, lk:0.000000, PDC:43.000008, DC:3 EF:0, rk:0.960000, yk:0.680000
CH:35,CL:59, D824.399963, uk:0.145000, lk:0.000000, PDC:42.750008, DC:4 EF:0, rk:0.960000, yk:0.670000
CH:33,CL:61, D828.000000, uk:0.150000, lk:0.000000, PDC:42.500000, DC:5 EF:0, rk:0.960000, yk:0.660000
CH:31,CL:66, D882.030945, uk:0.225043, lk:0.000000, PDC:38.747852, DC:1 EF:0, rk:0.960000, yk:0.650000
CH:30,CL:67, D886.199036, uk:0.230832, lk:0.000000, PDC:38.458408, DC:2 EF:0, rk:0.960000, yk:0.640000
CH:26,CL:68, D890.341125, uk:0.236585, lk:0.000000, PDC:38.170761, DC:3 EF:0, rk:0.960000, yk:0.630000
CH:26,CL:68, D894.458252, uk:0.242303, lk:0.000000, PDC:37.884850, DC:4 EF:0, rk:0.960000, yk:0.620000
CH:26,CL:69, D898.551270, uk:0.247988, lk:0.000000, PDC:37.600613, DC:5 EF:0, rk:0.960000, yk:0.610000
CH:25,CL:69, D902.620911, uk:0.253640, lk:0.000000, PDC:37.317997, DC:1 EF:0, rk:0.960000, yk:0.600000
CH:25,CL:70, D906.668030, uk:0.259261, lk:0.000000, PDC:37.036942, DC:2 EF:0, rk:0.960000, yk:0.590000
CH:25,CL:72, D910.693298, uk:0.264852, lk:0.000000, PDC:36.757416, DC:3 EF:0, rk:0.960000, yk:0.580000
CH:23,CL:72, D914.697388, uk:0.270413, lk:0.000000, PDC:36.479355, DC:4 EF:0, rk:0.960000, yk:0.570000
CH:22,CL:72, D918.681030, uk:0.275946, lk:0.000000, PDC:36.202709, DC:5 EF:0, rk:0.960000, yk:0.560000
CH:22,CL:74, D922.644897, uk:0.281451, lk:0.000000, PDC:35.927437, DC:1 EF:0, rk:0.960000, yk:0.550000
CH:23,CL:74, D926.589294, uk:0.286930, lk:0.000000, PDC:35.653526, DC:2 EF:0, rk:0.960000, yk:0.540000
CH:23,CL:74, D930.515137, uk:0.292382, lk:0.000000, PDC:35.380898, DC:3 EF:0, rk:0.960000, yk:0.530000
CH:21,CL:73, D934.422668, uk:0.297809, lk:0.000000, PDC:35.109535, DC:4 EF:0, rk:0.960000, yk:0.520000
CH:21,CL:73, D938.312439, uk:0.303212, lk:0.000000, PDC:34.839417, DC:5 EF:0, rk:0.960000, yk:0.510000
CH:21,CL:73, D942.184998, uk:0.308590, lk:0.000000, PDC:34.570488, DC:1 EF:0, rk:0.960000, yk:0.500000
CH:23,CL:72, D946.040771, uk:0.313946, lk:0.000000, PDC:34.302727, DC:2 EF:0, rk:0.960000, yk:0.490000
CH:23,CL:74, D949.880188, uk:0.319278, lk:0.000000, PDC:34.036102, DC:3 EF:0, rk:0.960000, yk:0.480000 <== Plant Output of Interest
CH:23,CL:74, D953.703552, uk:0.324588, lk:0.000000, PDC:33.770592, DC:4 EF:0, rk:0.960000, yk:0.470000
CH:22,CL:71, D957.511353, uk:0.329877, lk:0.000000, PDC:33.506165, DC:5 EF:0, rk:0.960000, yk:0.460000
CH:23,CL:72, D961.304077, uk:0.335145, lk:0.000000, PDC:33.242775, DC:1 EF:0, rk:0.960000, yk:0.450000
CH:23,CL:70, D965.081787, uk:0.340391, lk:0.000000, PDC:32.980438, DC:2 EF:0, rk:0.960000, yk:0.440000
CH:25,CL:69, D968.845154, uk:0.345618, lk:0.000000, PDC:32.719086, DC:3 EF:0, rk:0.960000, yk:0.430000
CH:26,CL:69, D972.594238, uk:0.350825, lk:0.000000, PDC:32.458733, DC:4 EF:0, rk:0.960000, yk:0.420000
CH:27,CL:70, D976.329468, uk:0.356013, lk:0.000000, PDC:32.199348, DC:5 EF:0, rk:0.960000, yk:0.410000
CH:28,CL:69, D980.051208, uk:0.361182, lk:0.000000, PDC:31.940895, DC:1 EF:0, rk:0.960000, yk:0.400000
CH:29,CL:68, D983.759705, uk:0.366333, lk:0.000000, PDC:31.683357, DC:2 EF:0, rk:0.960000, yk:0.390000
CH:29,CL:66, D987.455139, uk:0.371465, lk:0.000000, PDC:31.426727, DC:3 EF:0, rk:0.960000, yk:0.380000
CH:30,CL:65, D991.137756, uk:0.376580, lk:0.000000, PDC:31.170998, DC:4 EF:0, rk:0.960000, yk:0.370000
CH:31,CL:64, D994.808044, uk:0.381678, lk:0.000000, PDC:30.916115, DC:5 EF:0, rk:0.960000, yk:0.360000
CH:35,CL:62, D998.466187, uk:0.386759, lk:0.000000, PDC:30.662071, DC:1 EF:0, rk:0.960000, yk:0.350000
CH:34,CL:60, D1002.112183, uk:0.391822, lk:0.000000, PDC:30.408882, DC:2 EF:0, rk:0.960000, yk:0.340000
CH:36,CL:59, D1005.746521, uk:0.396870, lk:0.000000, PDC:30.156494, DC:3 EF:0, rk:0.960000, yk:0.330000
CH:37,CL:56, D1009.369324, uk:0.401902, lk:0.000000, PDC:29.904915, DC:4 EF:0, rk:0.960000, yk:0.320000
CH:40,CL:55, D1012.980835, uk:0.406918, lk:0.000000, PDC:29.654114, DC:5 EF:0, rk:0.960000, yk:0.310000
CH:41,CL:53, D1016.581238, uk:0.411918, lk:0.000000, PDC:29.404083, DC:1 EF:0, rk:0.960000, yk:0.300000
CH:43,CL:51, D1020.170715, uk:0.416904, lk:0.000000, PDC:29.154816, DC:2 EF:0, rk:0.960000, yk:0.290000
CH:46,CL:49, D1023.749512, uk:0.421874, lk:0.000000, PDC:28.906288, DC:3 EF:0, rk:0.960000, yk:0.280000
CH:46,CL:48, D1027.317871, uk:0.426830, lk:0.000000, PDC:28.658485, DC:4 EF:0, rk:0.960000, yk:0.270000
CH:44,CL:48, D1030.875854, uk:0.431772, lk:0.000000, PDC:28.411400, DC:5 EF:0, rk:0.960000, yk:0.260000
CH:43,CL:51, D1034.423706, uk:0.436699, lk:0.000000, PDC:28.165024, DC:1 EF:0, rk:0.960000, yk:0.250000
CH:41,CL:53, D1037.961548, uk:0.441613, lk:0.000000, PDC:27.919342, DC:2 EF:0, rk:0.960000, yk:0.240000
CH:38,CL:57, D1041.489502, uk:0.446513, lk:0.000000, PDC:27.674347, DC:3 EF:0, rk:0.960000, yk:0.230000
CH:36,CL:59, D1045.007813, uk:0.451400, lk:0.000000, PDC:27.430016, DC:4 EF:0, rk:0.960000, yk:0.220000
CH:34,CL:62, D1048.516846, uk:0.456273, lk:0.000000, PDC:27.186333, DC:5 EF:0, rk:0.960000, yk:0.210000
CH:30,CL:65, D1052.016235, uk:0.461134, lk:0.000000, PDC:26.943321, DC:1 EF:0, rk:0.960000, yk:0.200000
CH:27,CL:67, D1055.506592, uk:0.465981, lk:0.000000, PDC:26.700935, DC:2 EF:0, rk:0.960000, yk:0.190000
CH:26,CL:69, D1058.987915, uk:0.470816, lk:0.000000, PDC:26.459175, DC:3 EF:0, rk:0.960000, yk:0.180000
CH:23,CL:71, D1062.460205, uk:0.475639, lk:0.000000, PDC:26.218048, DC:4 EF:0, rk:0.960000, yk:0.170000
CH:19,CL:75, D1065.923828, uk:0.480450, lk:0.000000, PDC:25.977516, DC:5 EF:0, rk:0.960000, yk:0.160000
CH:17,CL:78, D1069.378784, uk:0.485248, lk:0.000000, PDC:25.737587, DC:1 EF:0, rk:0.960000, yk:0.150000
CH:14,CL:81, D1072.825195, uk:0.490035, lk:0.000000, PDC:25.498253, DC:2 EF:0, rk:0.960000, yk:0.140000
CH:10,CL:85, D1076.263184, uk:0.494810, lk:0.000000, PDC:25.259506, DC:3 EF:0, rk:0.960000, yk:0.130000
CH:7,CL:88, D1079.692871, uk:0.499574, lk:0.000000, PDC:25.021332, DC:4 EF:0, rk:0.960000, yk:0.120000
CH:100,CL:96, D1083.114502, uk:0.504326, lk:0.000000, PDC:24.783722, DC:5 EF:0, rk:0.960000, yk:0.110000
CH:101,CL:191, D1083.114502, uk:0.504326, lk:0.960000, PDC:24.783722, DC:1 EF:1, rk:0.960000, yk:0.100000
CH:98,CL:94, D1089.933716, uk:0.513797, lk:0.000000, PDC:24.310165, DC:2 EF:0, rk:0.960000, yk:0.090000
CH:101,CL:95, D1093.331421, uk:0.518516, lk:0.000000, PDC:24.074211, DC:3 EF:0, rk:0.960000, yk:0.080000
CH:8,CL:86, D1096.721558, uk:0.523224, lk:0.000000, PDC:23.838783, DC:4 EF:0, rk:0.960000, yk:0.070000
CH:12,CL:83, D1100.104004, uk:0.527922, lk:0.000000, PDC:23.603889, DC:5 EF:0, rk:0.960000, yk:0.060000
CH:15,CL:79, D1103.479004, uk:0.532610, lk:0.000000, PDC:23.369522, DC:1 EF:0, rk:0.960000, yk:0.050000
CH:17,CL:77, D1106.846558, uk:0.537287, lk:0.000000, PDC:23.135666, DC:2 EF:0, rk:0.960000, yk:0.040000
CH:24,CL:73, D1110.206787, uk:0.541954, lk:0.000000, PDC:22.902313, DC:3 EF:0, rk:0.960000, yk:0.030000
CH:25,CL:68, D1113.559814, uk:0.546611, lk:0.000000, PDC:22.669464, DC:4 EF:0, rk:0.960000, yk:0.020000
CH:30,CL:65, D1116.905762, uk:0.551258, lk:0.000000, PDC:22.437103, DC:5 EF:0, rk:0.960000, yk:0.010000
CH:34,CL:61, D1120.244629, uk:0.555895, lk:0.000000, PDC:22.205238, DC:1 EF:0, rk:0.960000, yk:0.000000
CH:39,CL:55, D709.200012, uk:-0.015000, lk:0.000000, PDC:50.750004, DC:2 EF:0, rk:0.960000, yk:0.990000
CH:36,CL:59, D712.799988, uk:-0.010000, lk:0.000000, PDC:50.500004, DC:3 EF:0, rk:0.960000, yk:0.980000
CH:32,CL:65, D716.400024, uk:-0.005000, lk:0.000000, PDC:50.250004, DC:4 EF:0, rk:0.960000, yk:0.970000
CH:27,CL:69, D720.000000, uk:0.000000, lk:0.000000, PDC:50.000004, DC:5 EF:0, rk:0.960000, yk:0.960000
CH:21,CL:74, D723.599976, uk:0.005000, lk:0.000000, PDC:49.750008, DC:1 EF:0, rk:0.960000, yk:0.950000
CH:17,CL:79, D727.200012, uk:0.010000, lk:0.000000, PDC:49.500000, DC:2 EF:0, rk:0.960000, yk:0.940000
CH:12,CL:85, D730.799988, uk:0.015000, lk:0.000000, PDC:49.250008, DC:3 EF:0, rk:0.960000, yk:0.930000
CH:8,CL:90, D734.399963, uk:0.020000, lk:0.000000, PDC:49.000008, DC:4 EF:0, rk:0.960000, yk:0.920000
CH:102,CL:94, D738.000000, uk:0.025000, lk:0.000000, PDC:48.750000, DC:5 EF:0, rk:0.960000, yk:0.910000
CH:100,CL:95, D741.599976, uk:0.030000, lk:0.000000, PDC:48.500008, DC:1 EF:0, rk:0.960000, yk:0.900000
CH:101,CL:95, D745.199951, uk:0.035000, lk:0.000000, PDC:48.250008, DC:2 EF:0, rk:0.960000, yk:0.890000
CH:9,CL:86, D748.799988, uk:0.040000, lk:0.000000, PDC:48.000000, DC:3 EF:0, rk:0.960000, yk:0.880000
CH:14,CL:80, D752.399963, uk:0.045000, lk:0.000000, PDC:47.750008, DC:4 EF:0, rk:0.960000, yk:0.870000
CH:18,CL:77, D755.999939, uk:0.050000, lk:0.000000, PDC:47.500008, DC:5 EF:0, rk:0.960000, yk:0.860000
CH:22,CL:73, D759.600037, uk:0.055000, lk:0.000000, PDC:47.250004, DC:1 EF:0, rk:0.960000, yk:0.850000
CH:27,CL:69, D763.199951, uk:0.060000, lk:0.000000, PDC:47.000008, DC:2 EF:0, rk:0.960000, yk:0.840000
CH:31,CL:66, D766.800049, uk:0.065000, lk:0.000000, PDC:46.749996, DC:3 EF:0, rk:0.960000, yk:0.830000
CH:34,CL:61, D770.399963, uk:0.070000, lk:0.000000, PDC:46.500004, DC:4 EF:0, rk:0.960000, yk:0.820000
CH:38,CL:57, D774.000061, uk:0.075000, lk:0.000000, PDC:46.249996, DC:5 EF:0, rk:0.960000, yk:0.810000
CH:41,CL:54, D777.600037, uk:0.080000, lk:0.000000, PDC:45.999996, DC:1 EF:0, rk:0.960000, yk:0.800000
CH:46,CL:51, D781.200012, uk:0.085000, lk:0.000000, PDC:45.750004, DC:2 EF:0, rk:0.960000, yk:0.790000
CH:47,CL:49, D784.800049, uk:0.090000, lk:0.000000, PDC:45.500000, DC:3 EF:0, rk:0.960000, yk:0.780000
CH:42,CL:53, D788.400024, uk:0.095000, lk:0.000000, PDC:45.250004, DC:4 EF:0, rk:0.960000, yk:0.770000
CH:38,CL:55, D792.000000, uk:0.100000, lk:0.000000, PDC:45.000004, DC:5 EF:0, rk:0.960000, yk:0.760000
CH:36,CL:58, D795.600037, uk:0.105000, lk:0.000000, PDC:44.750000, DC:1 EF:0, rk:0.960000, yk:0.750000
CH:33,CL:61, D799.200012, uk:0.110000, lk:0.000000, PDC:44.500004, DC:2 EF:0, rk:0.960000, yk:0.740000
CH:29,CL:66, D802.799988, uk:0.115000, lk:0.000000, PDC:44.250004, DC:3 EF:0, rk:0.960000, yk:0.730000
CH:26,CL:69, D806.400024, uk:0.120000, lk:0.000000, PDC:44.000000, DC:4 EF:0, rk:0.960000, yk:0.720000
CH:24,CL:71, D810.000000, uk:0.125000, lk:0.000000, PDC:43.750008, DC:5 EF:0, rk:0.960000, yk:0.710000
CH:21,CL:76, D813.599976, uk:0.130000, lk:0.000000, PDC:43.500008, DC:1 EF:0, rk:0.960000, yk:0.700000
CH:17,CL:77, D817.200012, uk:0.135000, lk:0.000000, PDC:43.250000, DC:2 EF:0, rk:0.960000, yk:0.690000
CH:15,CL:80, D820.799988, uk:0.140000, lk:0.000000, PDC:43.000008, DC:3 EF:0, rk:0.960000, yk:0.680000
CH:12,CL:82, D824.399963, uk:0.145000, lk:0.000000, PDC:42.750008, DC:4 EF:0, rk:0.960000, yk:0.670000
CH:11,CL:86, D828.000000, uk:0.150000, lk:0.000000, PDC:42.500000, DC:5 EF:0, rk:0.960000, yk:0.660000
CH:8,CL:89, D882.030945, uk:0.225043, lk:0.000000, PDC:38.747852, DC:1 EF:0, rk:0.960000, yk:0.650000
CH:102,CL:90, D886.199036, uk:0.230832, lk:0.000000, PDC:38.458408, DC:2 EF:0, rk:0.960000, yk:0.640000
CH:102,CL:94, D890.341125, uk:0.236585, lk:0.000000, PDC:38.170761, DC:3 EF:0, rk:0.960000, yk:0.630000
CH:102,CL:94, D894.458252, uk:0.242303, lk:0.000000, PDC:37.884850, DC:4 EF:0, rk:0.960000, yk:0.620000
CH:101,CL:95, D898.551270, uk:0.247988, lk:0.000000, PDC:37.600613, DC:5 EF:0, rk:0.960000, yk:0.610000
CH:101,CL:95, D902.620911, uk:0.253640, lk:0.000000, PDC:37.317997, DC:1 EF:0, rk:0.960000, yk:0.600000
CH:101,CL:97, D906.668030, uk:0.259261, lk:0.000000, PDC:37.036942, DC:2 EF:0, rk:0.960000, yk:0.590000
CH:102,CL:95, D910.693298, uk:0.264852, lk:0.000000, PDC:36.757416, DC:3 EF:0, rk:0.960000, yk:0.580000
CH:102,CL:192, D910.693298, uk:0.264852, lk:0.960000, PDC:36.757416, DC:4 EF:1, rk:0.960000, yk:0.570000
CH:102,CL:193, D910.693298, uk:0.264852, lk:0.960000, PDC:36.757416, DC:5 EF:1, rk:0.960000, yk:0.560000
CH:102,CL:49, D922.644897, uk:0.281451, lk:0.000000, PDC:35.927437, DC:1 EF:0, rk:0.960000, yk:0.550000
CH:102,CL:288, D922.644897, uk:0.281451, lk:0.960000, PDC:35.927437, DC:2 EF:1, rk:0.960000, yk:0.540000
CH:102,CL:192, D922.644897, uk:0.281451, lk:0.960000, PDC:35.927437, DC:3 EF:1, rk:0.960000, yk:0.530000
CH:102,CL:192, D922.644897, uk:0.281451, lk:0.960000, PDC:35.927437, DC:4 EF:1, rk:0.960000, yk:0.520000
CH:101,CL:96, D938.312439, uk:0.303212, lk:0.000000, PDC:34.839417, DC:5 EF:0, rk:0.960000, yk:0.510000
CH:100,CL:95, D942.184998, uk:0.308590, lk:0.000000, PDC:34.570488, DC:1 EF:0, rk:0.960000, yk:0.500000
CH:101,CL:191, D942.184998, uk:0.308590, lk:0.960000, PDC:34.570488, DC:2 EF:1, rk:0.960000, yk:0.490000
CH:101,CL:95, D949.880188, uk:0.319278, lk:0.000000, PDC:34.036102, DC:3 EF:0, rk:0.960000, yk:0.480000 <== Plant Output Of Interest
CH:101,CL:191, D949.880188, uk:0.319278, lk:0.960000, PDC:34.036102, DC:4 EF:1, rk:0.960000, yk:0.470000
CH:101,CL:479, D949.880188, uk:0.319278, lk:0.960000, PDC:34.036102, DC:5 EF:1, rk:0.960000, yk:0.460000
CH:101,CL:287, D949.880188, uk:0.319278, lk:0.960000, PDC:34.036102, DC:1 EF:1, rk:0.960000, yk:0.450000
CH:101,CL:479, D949.880188, uk:0.319278, lk:0.960000, PDC:34.036102, DC:2 EF:1, rk:0.960000, yk:0.440000
CH:101,CL:192, D949.880188, uk:0.319278, lk:0.960000, PDC:34.036102, DC:3 EF:1, rk:0.960000, yk:0.430000
CH:101,CL:94, D972.594238, uk:0.350825, lk:0.000000, PDC:32.458733, DC:4 EF:0, rk:0.960000, yk:0.420000
CH:101,CL:98, D976.329468, uk:0.356013, lk:0.000000, PDC:32.199348, DC:5 EF:0, rk:0.960000, yk:0.410000
CH:101,CL:97, D980.051208, uk:0.361182, lk:0.000000, PDC:31.940895, DC:1 EF:0, rk:0.960000, yk:0.400000
CH:101,CL:96, D983.759705, uk:0.366333, lk:0.000000, PDC:31.683357, DC:2 EF:0, rk:0.960000, yk:0.390000
CH:102,CL:94, D987.455139, uk:0.371465, lk:0.000000, PDC:31.426727, DC:3 EF:0, rk:0.960000, yk:0.380000
CH:102,CL:98, D991.137756, uk:0.376580, lk:0.000000, PDC:31.170998, DC:4 EF:0, rk:0.960000, yk:0.370000
CH:101,CL:95, D994.808044, uk:0.381678, lk:0.000000, PDC:30.916115, DC:5 EF:0, rk:0.960000, yk:0.360000
CH:102,CL:90, D998.466187, uk:0.386759, lk:0.000000, PDC:30.662071, DC:1 EF:0, rk:0.960000, yk:0.350000
CH:102,CL:89, D1002.112183, uk:0.391822, lk:0.000000, PDC:30.408882, DC:2 EF:0, rk:0.960000, yk:0.340000
CH:9,CL:85, D1005.746521, uk:0.396870, lk:0.000000, PDC:30.156494, DC:3 EF:0, rk:0.960000, yk:0.330000
CH:11,CL:84, D1009.369324, uk:0.401902, lk:0.000000, PDC:29.904915, DC:4 EF:0, rk:0.960000, yk:0.320000
CH:13,CL:85, D1012.980835, uk:0.406918, lk:0.000000, PDC:29.654114, DC:5 EF:0, rk:0.960000, yk:0.310000
CH:15,CL:82, D1016.581238, uk:0.411918, lk:0.000000, PDC:29.404083, DC:1 EF:0, rk:0.960000, yk:0.300000
CH:17,CL:80, D1020.170715, uk:0.416904, lk:0.000000, PDC:29.154816, DC:2 EF:0, rk:0.960000, yk:0.290000
CH:16,CL:78, D1023.749512, uk:0.421874, lk:0.000000, PDC:28.906288, DC:3 EF:0, rk:0.960000, yk:0.280000
CH:18,CL:76, D1027.317871, uk:0.426830, lk:0.000000, PDC:28.658485, DC:4 EF:0, rk:0.960000, yk:0.270000
CH:21,CL:73, D1030.875854, uk:0.431772, lk:0.000000, PDC:28.411400, DC:5 EF:0, rk:0.960000, yk:0.260000
CH:24,CL:71, D1034.423706, uk:0.436699, lk:0.000000, PDC:28.165024, DC:1 EF:0, rk:0.960000, yk:0.250000
CH:26,CL:69, D1037.961548, uk:0.441613, lk:0.000000, PDC:27.919342, DC:2 EF:0, rk:0.960000, yk:0.240000
CH:28,CL:68, D1041.489502, uk:0.446513, lk:0.000000, PDC:27.674347, DC:3 EF:0, rk:0.960000, yk:0.230000
CH:32,CL:66, D1045.007813, uk:0.451400, lk:0.000000, PDC:27.430016, DC:4 EF:0, rk:0.960000, yk:0.220000
CH:34,CL:63, D1048.516846, uk:0.456273, lk:0.000000, PDC:27.186333, DC:5 EF:0, rk:0.960000, yk:0.210000
CH:37,CL:60, D1052.016235, uk:0.461134, lk:0.000000, PDC:26.943321, DC:1 EF:0, rk:0.960000, yk:0.200000
CH:38,CL:57, D1055.506592, uk:0.465981, lk:0.000000, PDC:26.700935, DC:2 EF:0, rk:0.960000, yk:0.190000
CH:41,CL:54, D1058.987915, uk:0.470816, lk:0.000000, PDC:26.459175, DC:3 EF:0, rk:0.960000, yk:0.180000
CH:44,CL:52, D1062.460205, uk:0.475639, lk:0.000000, PDC:26.218048, DC:4 EF:0, rk:0.960000, yk:0.170000
CH:47,CL:49, D1065.923828, uk:0.480450, lk:0.000000, PDC:25.977516, DC:5 EF:0, rk:0.960000, yk:0.160000
CH:46,CL:51, D1069.378784, uk:0.485248, lk:0.000000, PDC:25.737587, DC:1 EF:0, rk:0.960000, yk:0.150000
CH:43,CL:52, D1072.825195, uk:0.490035, lk:0.000000, PDC:25.498253, DC:2 EF:0, rk:0.960000, yk:0.140000
CH:40,CL:55, D1076.263184, uk:0.494810, lk:0.000000, PDC:25.259506, DC:3 EF:0, rk:0.960000, yk:0.130000
CH:35,CL:61, D1079.692871, uk:0.499574, lk:0.000000, PDC:25.021332, DC:4 EF:0, rk:0.960000, yk:0.120000
CH:33,CL:62, D1083.114502, uk:0.504326, lk:0.000000, PDC:24.783722, DC:5 EF:0, rk:0.960000, yk:0.110000
CH:29,CL:65, D1086.528076, uk:0.509067, lk:0.000000, PDC:24.546661, DC:1 EF:0, rk:0.960000, yk:0.100000
CH:27,CL:70, D1089.933716, uk:0.513797, lk:0.000000, PDC:24.310165, DC:2 EF:0, rk:0.960000, yk:0.090000
CH:23,CL:72, D1093.331421, uk:0.518516, lk:0.000000, PDC:24.074211, DC:3 EF:0, rk:0.960000, yk:0.080000
CH:18,CL:76, D1096.721558, uk:0.523224, lk:0.000000, PDC:23.838783, DC:4 EF:0, rk:0.960000, yk:0.070000
CH:15,CL:80, D1100.104004, uk:0.527922, lk:0.000000, PDC:23.603889, DC:5 EF:0, rk:0.960000, yk:0.060000
CH:12,CL:83, D1103.479004, uk:0.532610, lk:0.000000, PDC:23.369522, DC:1 EF:0, rk:0.960000, yk:0.050000
CH:8,CL:87, D1106.846558, uk:0.537287, lk:0.000000, PDC:23.135666, DC:2 EF:0, rk:0.960000, yk:0.040000
CH:101,CL:95, D1110.206787, uk:0.541954, lk:0.000000, PDC:22.902313, DC:3 EF:0, rk:0.960000, yk:0.030000
CH:101,CL:479, D1110.206787, uk:0.541954, lk:0.960000, PDC:22.902313, DC:4 EF:1, rk:0.960000, yk:0.020000
CH:101,CL:94, D1116.905762, uk:0.551258, lk:0.000000, PDC:22.437103, DC:5 EF:0, rk:0.960000, yk:0.010000
CH:102,CL:89, D1120.244629, uk:0.555895, lk:0.000000, PDC:22.205238, DC:1 EF:0, rk:0.960000, yk:0.000000
CH:12,CL:85, D709.200012, uk:-0.015000, lk:0.000000, PDC:50.750004, DC:2 EF:0, rk:0.960000, yk:0.990000
CH:7,CL:88, D712.799988, uk:-0.010000, lk:0.000000, PDC:50.500004, DC:3 EF:0, rk:0.960000, yk:0.980000
CH:101,CL:98, D716.400024, uk:-0.005000, lk:0.000000, PDC:50.250004, DC:4 EF:0, rk:0.960000, yk:0.970000
CH:102,CL:95, D720.000000, uk:0.000000, lk:0.000000, PDC:50.000004, DC:5 EF:0, rk:0.960000, yk:0.960000

Thanks,
John

PS - Also, in the two POI's - the PDC:34.036102 - which is a good sign.

0 Richard Poley over 7 years ago in reply to John Westmoreland43

TI__Mastermind 27200 points

John,

The strange thing is that while yk is linear, uk contains a discontinuity and some apparent random behaviour. Can you describe how you're running this please? I thought you were ramping u(k) and monitoring y(k) - is that correct?

ukyk2.pdf

Regards,

Richard

0 John Westmoreland43 over 7 years ago in reply to Richard Poley

Guru 13945 points

Richard,

I'm doing it the other way - ramping y(k) and monitoring u(k) - but I can change that.

Thanks,
John

0 Richard Poley over 7 years ago in reply to John Westmoreland43

TI__Mastermind 27200 points

John,

Yes, please could you do that? I'd like to establish the relationship between u(k) and y(k). Thanks.

Regards,

Richard

0 John Westmoreland43 over 7 years ago in reply to Richard Poley

Guru 13945 points

Richard,

I sent you a PM on this.

Thanks,
John

0 John Westmoreland43 over 7 years ago in reply to John Westmoreland43

Guru 13945 points

Richard,

Here's r(k) being varied with y(k) fixed at 0.48:
CH:32,CL:61, D961.304077, uk:0.335145, lk:0.000000, PDC:33.242775, DC:2 EF:0, rk:0.990000, yk:0.480000
CH:30,CL:64, D957.511353, uk:0.329877, lk:0.000000, PDC:33.506165, DC:3 EF:0, rk:0.980000, yk:0.480000
CH:32,CL:63, D953.703552, uk:0.324588, lk:0.000000, PDC:33.770592, DC:4 EF:0, rk:0.970000, yk:0.480000
CH:33,CL:64, D949.880188, uk:0.319278, lk:0.000000, PDC:34.036102, DC:5 EF:0, rk:0.960000, yk:0.480000 <== Plant Output Of Interest
CH:32,CL:62, D946.040771, uk:0.313946, lk:0.000000, PDC:34.302727, DC:1 EF:0, rk:0.950000, yk:0.480000
CH:33,CL:62, D942.184998, uk:0.308590, lk:0.000000, PDC:34.570488, DC:2 EF:0, rk:0.940000, yk:0.480000
CH:32,CL:63, D938.312439, uk:0.303212, lk:0.000000, PDC:34.839417, DC:3 EF:0, rk:0.930000, yk:0.480000
CH:32,CL:62, D934.422668, uk:0.297809, lk:0.000000, PDC:35.109535, DC:4 EF:0, rk:0.920000, yk:0.480000
CH:34,CL:63, D930.515015, uk:0.292382, lk:0.000000, PDC:35.380905, DC:5 EF:0, rk:0.910000, yk:0.480000
CH:34,CL:63, D926.589294, uk:0.286930, lk:0.000000, PDC:35.653526, DC:1 EF:0, rk:0.900000, yk:0.480000
CH:33,CL:61, D922.644897, uk:0.281451, lk:0.000000, PDC:35.927437, DC:2 EF:0, rk:0.890000, yk:0.480000
CH:33,CL:61, D918.681030, uk:0.275946, lk:0.000000, PDC:36.202709, DC:3 EF:0, rk:0.880000, yk:0.480000
CH:33,CL:64, D914.697388, uk:0.270413, lk:0.000000, PDC:36.479355, DC:4 EF:0, rk:0.870000, yk:0.480000
CH:32,CL:62, D910.693298, uk:0.264852, lk:0.000000, PDC:36.757416, DC:5 EF:0, rk:0.860000, yk:0.480000
CH:32,CL:65, D906.668030, uk:0.259261, lk:0.000000, PDC:37.036942, DC:1 EF:0, rk:0.850000, yk:0.480000
CH:31,CL:64, D902.620911, uk:0.253640, lk:0.000000, PDC:37.317997, DC:2 EF:0, rk:0.840000, yk:0.480000
CH:30,CL:66, D898.551270, uk:0.247988, lk:0.000000, PDC:37.600613, DC:3 EF:0, rk:0.830000, yk:0.480000
CH:29,CL:67, D894.458252, uk:0.242303, lk:0.000000, PDC:37.884850, DC:4 EF:0, rk:0.820000, yk:0.480000
CH:29,CL:66, D890.341187, uk:0.236585, lk:0.000000, PDC:38.170753, DC:5 EF:0, rk:0.810000, yk:0.480000
CH:27,CL:69, D886.199036, uk:0.230832, lk:0.000000, PDC:38.458408, DC:1 EF:0, rk:0.800000, yk:0.480000
CH:25,CL:72, D882.030945, uk:0.225043, lk:0.000000, PDC:38.747852, DC:2 EF:0, rk:0.790000, yk:0.480000
CH:21,CL:74, D828.000000, uk:0.150000, lk:0.000000, PDC:42.500000, DC:3 EF:0, rk:0.780000, yk:0.480000
CH:21,CL:76, D824.399963, uk:0.145000, lk:0.000000, PDC:42.750008, DC:4 EF:0, rk:0.770000, yk:0.480000
CH:18,CL:77, D820.799988, uk:0.140000, lk:0.000000, PDC:43.000008, DC:5 EF:0, rk:0.760000, yk:0.480000
CH:15,CL:82, D817.200012, uk:0.135000, lk:0.000000, PDC:43.250000, DC:1 EF:0, rk:0.750000, yk:0.480000
CH:11,CL:83, D813.599976, uk:0.130000, lk:0.000000, PDC:43.500008, DC:2 EF:0, rk:0.740000, yk:0.480000
CH:9,CL:85, D810.000000, uk:0.125000, lk:0.000000, PDC:43.750008, DC:3 EF:0, rk:0.730000, yk:0.480000
CH:7,CL:89, D806.400024, uk:0.120000, lk:0.000000, PDC:44.000000, DC:4 EF:0, rk:0.720000, yk:0.480000
CH:101,CL:95, D802.799988, uk:0.115000, lk:0.000000, PDC:44.250004, DC:5 EF:0, rk:0.710000, yk:0.480000
CH:102,CL:192, D802.799988, uk:0.115000, lk:0.960000, PDC:44.250004, DC:1 EF:1, rk:0.700000, yk:0.480000
CH:102,CL:95, D795.600037, uk:0.105000, lk:0.000000, PDC:44.750000, DC:2 EF:0, rk:0.690000, yk:0.480000
CH:100,CL:96, D792.000000, uk:0.100000, lk:0.000000, PDC:45.000004, DC:3 EF:0, rk:0.680000, yk:0.480000
CH:8,CL:87, D788.400024, uk:0.095000, lk:0.000000, PDC:45.250004, DC:4 EF:0, rk:0.670000, yk:0.480000
CH:12,CL:83, D784.800049, uk:0.090000, lk:0.000000, PDC:45.500000, DC:5 EF:0, rk:0.660000, yk:0.480000
CH:16,CL:81, D781.200012, uk:0.085000, lk:0.000000, PDC:45.750004, DC:1 EF:0, rk:0.650000, yk:0.480000
CH:19,CL:76, D777.600037, uk:0.080000, lk:0.000000, PDC:45.999996, DC:2 EF:0, rk:0.640000, yk:0.480000
CH:23,CL:74, D774.000061, uk:0.075000, lk:0.000000, PDC:46.249996, DC:3 EF:0, rk:0.630000, yk:0.480000
CH:26,CL:71, D770.400024, uk:0.070000, lk:0.000000, PDC:46.500004, DC:4 EF:0, rk:0.620000, yk:0.480000
CH:28,CL:67, D766.800049, uk:0.065000, lk:0.000000, PDC:46.749996, DC:5 EF:0, rk:0.610000, yk:0.480000
CH:32,CL:63, D763.199951, uk:0.060000, lk:0.000000, PDC:47.000008, DC:1 EF:0, rk:0.600000, yk:0.480000
CH:38,CL:59, D759.599976, uk:0.055000, lk:0.000000, PDC:47.250004, DC:2 EF:0, rk:0.590000, yk:0.480000
CH:40,CL:53, D755.999939, uk:0.050000, lk:0.000000, PDC:47.500008, DC:3 EF:0, rk:0.580000, yk:0.480000
CH:46,CL:51, D752.399963, uk:0.045000, lk:0.000000, PDC:47.750008, DC:4 EF:0, rk:0.570000, yk:0.480000
CH:44,CL:50, D748.799988, uk:0.040000, lk:0.000000, PDC:48.000000, DC:5 EF:0, rk:0.560000, yk:0.480000
CH:42,CL:56, D745.199951, uk:0.035000, lk:0.000000, PDC:48.250008, DC:1 EF:0, rk:0.550000, yk:0.480000
CH:37,CL:59, D741.599976, uk:0.030000, lk:0.000000, PDC:48.500008, DC:2 EF:0, rk:0.540000, yk:0.480000
CH:33,CL:62, D738.000000, uk:0.025000, lk:0.000000, PDC:48.750000, DC:3 EF:0, rk:0.530000, yk:0.480000
CH:28,CL:67, D734.399963, uk:0.020000, lk:0.000000, PDC:49.000008, DC:4 EF:0, rk:0.520000, yk:0.480000
CH:24,CL:71, D730.799988, uk:0.015000, lk:0.000000, PDC:49.250008, DC:5 EF:0, rk:0.510000, yk:0.480000
CH:19,CL:76, D727.200012, uk:0.010000, lk:0.000000, PDC:49.500000, DC:1 EF:0, rk:0.500000, yk:0.480000
CH:14,CL:83, D723.599976, uk:0.005000, lk:0.000000, PDC:49.750008, DC:2 EF:0, rk:0.490000, yk:0.480000
CH:9,CL:88, D720.000000, uk:0.000000, lk:0.000000, PDC:50.000004, DC:3 EF:0, rk:0.480000, yk:0.480000 <== Hope this is correct
CH:102,CL:94, D716.400024, uk:-0.005000, lk:0.000000, PDC:50.250004, DC:4 EF:0, rk:0.470000, yk:0.480000
CH:102,CL:191, D716.400024, uk:-0.005000, lk:0.960000, PDC:50.250004, DC:5 EF:1, rk:0.460000, yk:0.480000
CH:7,CL:90, D709.200012, uk:-0.015000, lk:0.000000, PDC:50.750004, DC:1 EF:0, rk:0.450000, yk:0.480000
CH:9,CL:85, D705.600037, uk:-0.020000, lk:0.000000, PDC:51.000000, DC:2 EF:0, rk:0.440000, yk:0.480000
CH:16,CL:79, D702.000000, uk:-0.025000, lk:0.000000, PDC:51.250000, DC:3 EF:0, rk:0.430000, yk:0.480000
CH:22,CL:73, D698.400024, uk:-0.030000, lk:0.000000, PDC:51.500000, DC:4 EF:0, rk:0.420000, yk:0.480000
CH:27,CL:68, D694.800049, uk:-0.035000, lk:0.000000, PDC:51.750000, DC:5 EF:0, rk:0.410000, yk:0.480000
CH:32,CL:62, D691.200012, uk:-0.040000, lk:0.000000, PDC:52.000000, DC:1 EF:0, rk:0.400000, yk:0.480000
CH:37,CL:57, D687.599976, uk:-0.045000, lk:0.000000, PDC:52.250004, DC:2 EF:0, rk:0.390000, yk:0.480000
CH:43,CL:51, D684.000000, uk:-0.050000, lk:0.000000, PDC:52.500004, DC:3 EF:0, rk:0.380000, yk:0.480000
CH:45,CL:49, D680.400024, uk:-0.055000, lk:0.000000, PDC:52.750000, DC:4 EF:0, rk:0.370000, yk:0.480000
CH:39,CL:57, D676.799988, uk:-0.060000, lk:0.000000, PDC:53.000004, DC:5 EF:0, rk:0.360000, yk:0.480000
CH:34,CL:61, D673.200012, uk:-0.065000, lk:0.000000, PDC:53.250004, DC:1 EF:0, rk:0.350000, yk:0.480000
CH:29,CL:69, D669.599976, uk:-0.070000, lk:0.000000, PDC:53.500004, DC:2 EF:0, rk:0.340000, yk:0.480000
CH:22,CL:75, D666.000000, uk:-0.075000, lk:0.000000, PDC:53.750004, DC:3 EF:0, rk:0.330000, yk:0.480000
CH:14,CL:81, D662.400024, uk:-0.080000, lk:0.000000, PDC:54.000004, DC:4 EF:0, rk:0.320000, yk:0.480000
CH:7,CL:87, D658.799988, uk:-0.085000, lk:0.000000, PDC:54.250004, DC:5 EF:0, rk:0.310000, yk:0.480000
CH:102,CL:94, D655.199951, uk:-0.090000, lk:0.000000, PDC:54.500004, DC:1 EF:0, rk:0.300000, yk:0.480000
CH:101,CL:96, D651.599976, uk:-0.095000, lk:0.000000, PDC:54.750004, DC:2 EF:0, rk:0.290000, yk:0.480000
CH:10,CL:85, D648.000000, uk:-0.100000, lk:0.000000, PDC:55.000000, DC:3 EF:0, rk:0.280000, yk:0.480000
CH:16,CL:78, D644.399963, uk:-0.105000, lk:0.000000, PDC:55.250004, DC:4 EF:0, rk:0.270000, yk:0.480000
CH:23,CL:72, D640.799988, uk:-0.110000, lk:0.000000, PDC:55.500004, DC:5 EF:0, rk:0.260000, yk:0.480000
CH:29,CL:66, D637.200012, uk:-0.115000, lk:0.000000, PDC:55.750000, DC:1 EF:0, rk:0.250000, yk:0.480000
CH:38,CL:59, D633.599976, uk:-0.120000, lk:0.000000, PDC:56.000004, DC:2 EF:0, rk:0.240000, yk:0.480000
CH:42,CL:52, D630.000000, uk:-0.125000, lk:0.000000, PDC:56.250004, DC:3 EF:0, rk:0.230000, yk:0.480000
CH:44,CL:50, D626.400024, uk:-0.130000, lk:0.000000, PDC:56.500000, DC:4 EF:0, rk:0.220000, yk:0.480000
CH:35,CL:59, D622.799988, uk:-0.135000, lk:0.000000, PDC:56.750004, DC:5 EF:0, rk:0.210000, yk:0.480000
CH:28,CL:66, D619.200012, uk:-0.140000, lk:0.000000, PDC:57.000004, DC:1 EF:0, rk:0.200000, yk:0.480000
CH:21,CL:73, D615.600037, uk:-0.145000, lk:0.000000, PDC:57.250000, DC:2 EF:0, rk:0.190000, yk:0.480000
CH:14,CL:81, D612.000000, uk:-0.150000, lk:0.000000, PDC:57.500000, DC:3 EF:0, rk:0.180000, yk:0.480000
CH:7,CL:87, D557.969055, uk:-0.225043, lk:0.000000, PDC:61.252151, DC:4 EF:0, rk:0.170000, yk:0.480000
CH:102,CL:95, D553.800964, uk:-0.230832, lk:0.000000, PDC:61.541603, DC:5 EF:0, rk:0.160000, yk:0.480000
CH:10,CL:86, D549.658813, uk:-0.236585, lk:0.000000, PDC:61.829250, DC:1 EF:0, rk:0.150000, yk:0.480000
CH:19,CL:78, D545.541687, uk:-0.242303, lk:0.000000, PDC:62.115162, DC:2 EF:0, rk:0.140000, yk:0.480000
CH:27,CL:67, D541.448730, uk:-0.247988, lk:0.000000, PDC:62.399395, DC:3 EF:0, rk:0.130000, yk:0.480000
CH:35,CL:58, D537.379089, uk:-0.253640, lk:0.000000, PDC:62.682007, DC:4 EF:0, rk:0.120000, yk:0.480000
CH:45,CL:50, D533.331970, uk:-0.259261, lk:0.000000, PDC:62.963058, DC:5 EF:0, rk:0.110000, yk:0.480000
CH:40,CL:55, D529.306763, uk:-0.264852, lk:0.000000, PDC:63.242588, DC:1 EF:0, rk:0.100000, yk:0.480000
CH:30,CL:65, D525.302612, uk:-0.270413, lk:0.000000, PDC:63.520657, DC:2 EF:0, rk:0.090000, yk:0.480000
CH:21,CL:76, D521.318970, uk:-0.275946, lk:0.000000, PDC:63.797295, DC:3 EF:0, rk:0.080000, yk:0.480000
CH:12,CL:86, D517.355103, uk:-0.281451, lk:0.000000, PDC:64.072563, DC:4 EF:0, rk:0.070000, yk:0.480000
CH:102,CL:96, D513.410706, uk:-0.286930, lk:0.000000, PDC:64.346481, DC:5 EF:0, rk:0.060000, yk:0.480000
CH:8,CL:88, D509.484863, uk:-0.292382, lk:0.000000, PDC:64.619110, DC:1 EF:0, rk:0.050000, yk:0.480000
CH:18,CL:77, D505.577332, uk:-0.297809, lk:0.000000, PDC:64.890465, DC:2 EF:0, rk:0.040000, yk:0.480000
CH:27,CL:67, D501.687592, uk:-0.303212, lk:0.000000, PDC:65.160583, DC:3 EF:0, rk:0.030000, yk:0.480000
CH:37,CL:57, D497.815002, uk:-0.308590, lk:0.000000, PDC:65.429520, DC:4 EF:0, rk:0.020000, yk:0.480000
CH:47,CL:50, D493.959229, uk:-0.313946, lk:0.000000, PDC:65.697281, DC:5 EF:0, rk:0.010000, yk:0.480000
CH:37,CL:59, D490.119843, uk:-0.319278, lk:0.000000, PDC:65.963898, DC:1 EF:0, rk:0.000000, yk:0.480000
CH:24,CL:70, D961.304077, uk:0.335145, lk:0.000000, PDC:33.242775, DC:2 EF:0, rk:0.990000, yk:0.480000
CH:23,CL:71, D957.511353, uk:0.329877, lk:0.000000, PDC:33.506165, DC:3 EF:0, rk:0.980000, yk:0.480000
CH:24,CL:71, D953.703552, uk:0.324588, lk:0.000000, PDC:33.770592, DC:4 EF:0, rk:0.970000, yk:0.480000
CH:25,CL:70, D949.880188, uk:0.319278, lk:0.000000, PDC:34.036102, DC:5 EF:0, rk:0.960000, yk:0.480000 <== Plant Output Of Interest
CH:26,CL:71, D946.040771, uk:0.313946, lk:0.000000, PDC:34.302727, DC:1 EF:0, rk:0.950000, yk:0.480000
CH:26,CL:71, D942.184998, uk:0.308590, lk:0.000000, PDC:34.570488, DC:2 EF:0, rk:0.940000, yk:0.480000
CH:25,CL:70, D938.312439, uk:0.303212, lk:0.000000, PDC:34.839417, DC:3 EF:0, rk:0.930000, yk:0.480000
CH:25,CL:70, D934.422668, uk:0.297809, lk:0.000000, PDC:35.109535, DC:4 EF:0, rk:0.920000, yk:0.480000
CH:25,CL:69, D930.515015, uk:0.292382, lk:0.000000, PDC:35.380905, DC:5 EF:0, rk:0.910000, yk:0.480000
CH:25,CL:70, D926.589294, uk:0.286930, lk:0.000000, PDC:35.653526, DC:1 EF:0, rk:0.900000, yk:0.480000
CH:25,CL:70, D922.644897, uk:0.281451, lk:0.000000, PDC:35.927437, DC:2 EF:0, rk:0.890000, yk:0.480000
CH:26,CL:69, D918.681030, uk:0.275946, lk:0.000000, PDC:36.202709, DC:3 EF:0, rk:0.880000, yk:0.480000
CH:25,CL:70, D914.697388, uk:0.270413, lk:0.000000, PDC:36.479355, DC:4 EF:0, rk:0.870000, yk:0.480000
CH:25,CL:70, D910.693298, uk:0.264852, lk:0.000000, PDC:36.757416, DC:5 EF:0, rk:0.860000, yk:0.480000
CH:24,CL:71, D906.668030, uk:0.259261, lk:0.000000, PDC:37.036942, DC:1 EF:0, rk:0.850000, yk:0.480000
CH:24,CL:71, D902.620911, uk:0.253640, lk:0.000000, PDC:37.317997, DC:2 EF:0, rk:0.840000, yk:0.480000
CH:23,CL:74, D898.551270, uk:0.247988, lk:0.000000, PDC:37.600613, DC:3 EF:0, rk:0.830000, yk:0.480000
CH:22,CL:72, D894.458252, uk:0.242303, lk:0.000000, PDC:37.884850, DC:4 EF:0, rk:0.820000, yk:0.480000
CH:21,CL:76, D890.341187, uk:0.236585, lk:0.000000, PDC:38.170753, DC:5 EF:0, rk:0.810000, yk:0.480000
CH:20,CL:74, D886.199036, uk:0.230832, lk:0.000000, PDC:38.458408, DC:1 EF:0, rk:0.800000, yk:0.480000
CH:20,CL:78, D882.030945, uk:0.225043, lk:0.000000, PDC:38.747852, DC:2 EF:0, rk:0.790000, yk:0.480000
CH:18,CL:76, D828.000000, uk:0.150000, lk:0.000000, PDC:42.500000, DC:3 EF:0, rk:0.780000, yk:0.480000
CH:15,CL:79, D824.399963, uk:0.145000, lk:0.000000, PDC:42.750008, DC:4 EF:0, rk:0.770000, yk:0.480000
CH:14,CL:81, D820.799988, uk:0.140000, lk:0.000000, PDC:43.000008, DC:5 EF:0, rk:0.760000, yk:0.480000
CH:10,CL:84, D817.200012, uk:0.135000, lk:0.000000, PDC:43.250000, DC:1 EF:0, rk:0.750000, yk:0.480000
CH:8,CL:86, D813.599976, uk:0.130000, lk:0.000000, PDC:43.500008, DC:2 EF:0, rk:0.740000, yk:0.480000
CH:102,CL:95, D810.000000, uk:0.125000, lk:0.000000, PDC:43.750008, DC:3 EF:0, rk:0.730000, yk:0.480000
CH:102,CL:94, D806.400024, uk:0.120000, lk:0.000000, PDC:44.000000, DC:4 EF:0, rk:0.720000, yk:0.480000
CH:102,CL:48, D802.799988, uk:0.115000, lk:0.000000, PDC:44.250004, DC:5 EF:0, rk:0.710000, yk:0.480000
CH:101,CL:96, D799.200012, uk:0.110000, lk:0.000000, PDC:44.500004, DC:1 EF:0, rk:0.700000, yk:0.480000
CH:100,CL:95, D795.600037, uk:0.105000, lk:0.000000, PDC:44.750000, DC:2 EF:0, rk:0.690000, yk:0.480000
CH:9,CL:88, D792.000000, uk:0.100000, lk:0.000000, PDC:45.000004, DC:3 EF:0, rk:0.680000, yk:0.480000
CH:11,CL:84, D788.400024, uk:0.095000, lk:0.000000, PDC:45.250004, DC:4 EF:0, rk:0.670000, yk:0.480000
CH:16,CL:81, D784.800049, uk:0.090000, lk:0.000000, PDC:45.500000, DC:5 EF:0, rk:0.660000, yk:0.480000
CH:19,CL:75, D781.200012, uk:0.085000, lk:0.000000, PDC:45.750004, DC:1 EF:0, rk:0.650000, yk:0.480000
CH:22,CL:72, D777.600037, uk:0.080000, lk:0.000000, PDC:45.999996, DC:2 EF:0, rk:0.640000, yk:0.480000
CH:25,CL:69, D774.000061, uk:0.075000, lk:0.000000, PDC:46.249996, DC:3 EF:0, rk:0.630000, yk:0.480000
CH:29,CL:65, D770.400024, uk:0.070000, lk:0.000000, PDC:46.500004, DC:4 EF:0, rk:0.620000, yk:0.480000
CH:33,CL:62, D766.800049, uk:0.065000, lk:0.000000, PDC:46.749996, DC:5 EF:0, rk:0.610000, yk:0.480000
CH:37,CL:58, D763.199951, uk:0.060000, lk:0.000000, PDC:47.000008, DC:1 EF:0, rk:0.600000, yk:0.480000
CH:40,CL:54, D759.599976, uk:0.055000, lk:0.000000, PDC:47.250004, DC:2 EF:0, rk:0.590000, yk:0.480000
CH:45,CL:50, D755.999939, uk:0.050000, lk:0.000000, PDC:47.500008, DC:3 EF:0, rk:0.580000, yk:0.480000
CH:44,CL:49, D752.399963, uk:0.045000, lk:0.000000, PDC:47.750008, DC:4 EF:0, rk:0.570000, yk:0.480000
CH:41,CL:54, D748.799988, uk:0.040000, lk:0.000000, PDC:48.000000, DC:5 EF:0, rk:0.560000, yk:0.480000
CH:38,CL:59, D745.199951, uk:0.035000, lk:0.000000, PDC:48.250008, DC:1 EF:0, rk:0.550000, yk:0.480000
CH:32,CL:62, D741.599976, uk:0.030000, lk:0.000000, PDC:48.500008, DC:2 EF:0, rk:0.540000, yk:0.480000
CH:29,CL:66, D738.000000, uk:0.025000, lk:0.000000, PDC:48.750000, DC:3 EF:0, rk:0.530000, yk:0.480000
CH:23,CL:72, D734.399963, uk:0.020000, lk:0.000000, PDC:49.000008, DC:4 EF:0, rk:0.520000, yk:0.480000
CH:20,CL:75, D730.799988, uk:0.015000, lk:0.000000, PDC:49.250008, DC:5 EF:0, rk:0.510000, yk:0.480000
CH:16,CL:81, D727.200012, uk:0.010000, lk:0.000000, PDC:49.500000, DC:1 EF:0, rk:0.500000, yk:0.480000
CH:11,CL:86, D723.599976, uk:0.005000, lk:0.000000, PDC:49.750008, DC:2 EF:0, rk:0.490000, yk:0.480000
CH:101,CL:95, D720.000000, uk:0.000000, lk:0.000000, PDC:50.000004, DC:3 EF:0, rk:0.480000, yk:0.480000
CH:102,CL:287, D720.000000, uk:0.000000, lk:0.960000, PDC:50.000004, DC:4 EF:1, rk:0.470000, yk:0.480000
CH:100,CL:96, D712.799988, uk:-0.010000, lk:0.000000, PDC:50.500004, DC:5 EF:0, rk:0.460000, yk:0.480000
CH:9,CL:85, D709.200012, uk:-0.015000, lk:0.000000, PDC:50.750004, DC:1 EF:0, rk:0.450000, yk:0.480000
CH:14,CL:80, D705.600037, uk:-0.020000, lk:0.000000, PDC:51.000000, DC:2 EF:0, rk:0.440000, yk:0.480000
CH:18,CL:77, D702.000000, uk:-0.025000, lk:0.000000, PDC:51.250000, DC:3 EF:0, rk:0.430000, yk:0.480000
CH:23,CL:71, D698.400024, uk:-0.030000, lk:0.000000, PDC:51.500000, DC:4 EF:0, rk:0.420000, yk:0.480000
CH:28,CL:66, D694.800049, uk:-0.035000, lk:0.000000, PDC:51.750000, DC:5 EF:0, rk:0.410000, yk:0.480000
CH:35,CL:61, D691.200012, uk:-0.040000, lk:0.000000, PDC:52.000000, DC:1 EF:0, rk:0.400000, yk:0.480000
CH:40,CL:54, D687.599976, uk:-0.045000, lk:0.000000, PDC:52.250004, DC:2 EF:0, rk:0.390000, yk:0.480000
CH:47,CL:49, D684.000000, uk:-0.050000, lk:0.000000, PDC:52.500004, DC:3 EF:0, rk:0.380000, yk:0.480000
CH:41,CL:53, D680.400024, uk:-0.055000, lk:0.000000, PDC:52.750000, DC:4 EF:0, rk:0.370000, yk:0.480000
CH:36,CL:59, D676.799988, uk:-0.060000, lk:0.000000, PDC:53.000004, DC:5 EF:0, rk:0.360000, yk:0.480000
CH:31,CL:66, D673.200012, uk:-0.065000, lk:0.000000, PDC:53.250004, DC:1 EF:0, rk:0.350000, yk:0.480000
CH:25,CL:70, D669.599976, uk:-0.070000, lk:0.000000, PDC:53.500004, DC:2 EF:0, rk:0.340000, yk:0.480000
CH:19,CL:76, D666.000000, uk:-0.075000, lk:0.000000, PDC:53.750004, DC:3 EF:0, rk:0.330000, yk:0.480000
CH:12,CL:82, D662.400024, uk:-0.080000, lk:0.000000, PDC:54.000004, DC:4 EF:0, rk:0.320000, yk:0.480000
CH:101,CL:90, D658.799988, uk:-0.085000, lk:0.000000, PDC:54.250004, DC:5 EF:0, rk:0.310000, yk:0.480000
CH:102,CL:191, D658.799988, uk:-0.085000, lk:0.960000, PDC:54.250004, DC:1 EF:1, rk:0.300000, yk:0.480000
CH:100,CL:90, D651.599976, uk:-0.095000, lk:0.000000, PDC:54.750004, DC:2 EF:0, rk:0.290000, yk:0.480000
CH:11,CL:84, D648.000000, uk:-0.100000, lk:0.000000, PDC:55.000000, DC:3 EF:0, rk:0.280000, yk:0.480000
CH:19,CL:76, D644.399963, uk:-0.105000, lk:0.000000, PDC:55.250004, DC:4 EF:0, rk:0.270000, yk:0.480000
CH:25,CL:70, D640.799988, uk:-0.110000, lk:0.000000, PDC:55.500004, DC:5 EF:0, rk:0.260000, yk:0.480000
CH:33,CL:64, D637.200012, uk:-0.115000, lk:0.000000, PDC:55.750000, DC:1 EF:0, rk:0.250000, yk:0.480000
CH:40,CL:57, D633.599976, uk:-0.120000, lk:0.000000, PDC:56.000004, DC:2 EF:0, rk:0.240000, yk:0.480000
CH:46,CL:50, D630.000000, uk:-0.125000, lk:0.000000, PDC:56.250004, DC:3 EF:0, rk:0.230000, yk:0.480000
CH:41,CL:55, D626.400024, uk:-0.130000, lk:0.000000, PDC:56.500000, DC:4 EF:0, rk:0.220000, yk:0.480000
CH:33,CL:62, D622.799988, uk:-0.135000, lk:0.000000, PDC:56.750004, DC:5 EF:0, rk:0.210000, yk:0.480000
CH:26,CL:69, D619.200012, uk:-0.140000, lk:0.000000, PDC:57.000004, DC:1 EF:0, rk:0.200000, yk:0.480000
CH:20,CL:75, D615.600037, uk:-0.145000, lk:0.000000, PDC:57.250000, DC:2 EF:0, rk:0.190000, yk:0.480000
CH:12,CL:82, D612.000000, uk:-0.150000, lk:0.000000, PDC:57.500000, DC:3 EF:0, rk:0.180000, yk:0.480000
CH:101,CL:94, D557.969055, uk:-0.225043, lk:0.000000, PDC:61.252151, DC:4 EF:0, rk:0.170000, yk:0.480000
CH:101,CL:96, D553.800964, uk:-0.230832, lk:0.000000, PDC:61.541603, DC:5 EF:0, rk:0.160000, yk:0.480000
CH:11,CL:84, D549.658813, uk:-0.236585, lk:0.000000, PDC:61.829250, DC:1 EF:0, rk:0.150000, yk:0.480000
CH:21,CL:75, D545.541687, uk:-0.242303, lk:0.000000, PDC:62.115162, DC:2 EF:0, rk:0.140000, yk:0.480000
CH:30,CL:65, D541.448730, uk:-0.247988, lk:0.000000, PDC:62.399395, DC:3 EF:0, rk:0.130000, yk:0.480000
CH:40,CL:55, D537.379089, uk:-0.253640, lk:0.000000, PDC:62.682007, DC:4 EF:0, rk:0.120000, yk:0.480000
CH:47,CL:49, D533.331970, uk:-0.259261, lk:0.000000, PDC:62.963058, DC:5 EF:0, rk:0.110000, yk:0.480000
CH:37,CL:58, D529.306763, uk:-0.264852, lk:0.000000, PDC:63.242588, DC:1 EF:0, rk:0.100000, yk:0.480000
CH:27,CL:67, D525.302612, uk:-0.270413, lk:0.000000, PDC:63.520657, DC:2 EF:0, rk:0.090000, yk:0.480000
CH:18,CL:77, D521.318970, uk:-0.275946, lk:0.000000, PDC:63.797295, DC:3 EF:0, rk:0.080000, yk:0.480000
CH:9,CL:88, D517.355103, uk:-0.281451, lk:0.000000, PDC:64.072563, DC:4 EF:0, rk:0.070000, yk:0.480000
CH:102,CL:96, D513.410706, uk:-0.286930, lk:0.000000, PDC:64.346481, DC:5 EF:0, rk:0.060000, yk:0.480000
CH:9,CL:85, D509.484863, uk:-0.292382, lk:0.000000, PDC:64.619110, DC:1 EF:0, rk:0.050000, yk:0.480000
CH:19,CL:75, D505.577332, uk:-0.297809, lk:0.000000, PDC:64.890465, DC:2 EF:0, rk:0.040000, yk:0.480000
CH:30,CL:64, D501.687592, uk:-0.303212, lk:0.000000, PDC:65.160583, DC:3 EF:0, rk:0.030000, yk:0.480000
CH:40,CL:54, D497.815002, uk:-0.308590, lk:0.000000, PDC:65.429520, DC:4 EF:0, rk:0.020000, yk:0.480000
CH:45,CL:51, D493.959229, uk:-0.313946, lk:0.000000, PDC:65.697281, DC:5 EF:0, rk:0.010000, yk:0.480000
CH:34,CL:60, D490.119843, uk:-0.319278, lk:0.000000, PDC:65.963898, DC:1 EF:0, rk:0.000000, yk:0.480000
CH:25,CL:71, D961.304077, uk:0.335145, lk:0.000000, PDC:33.242775, DC:2 EF:0, rk:0.990000, yk:0.480000
CH:21,CL:74, D957.511353, uk:0.329877, lk:0.000000, PDC:33.506165, DC:3 EF:0, rk:0.980000, yk:0.480000

Thanks,
John

0 John Westmoreland43 over 7 years ago in reply to John Westmoreland43

Guru 13945 points

Richard,

I'm running the NL PID C2 on my target, with l(k) set to 0, and the PID will find 'DPHASE_LOCK' - lose it, then hunt and find it again. I haven't seen it get stuck in Umax or Umin saturation either yet. So, this appears to be progress.

Thanks and Happy 4th!
John

0 John Westmoreland43 over 7 years ago in reply to Richard Poley

Guru 13945 points

Richard,

Any line of data that has EF:1 - that means an edge condition existed during a data capture and that line of data should be ignored - it's not being used in the PID data.

Meant to tell you that.

Thanks,
John

0 Richard Poley over 7 years ago in reply to John Westmoreland43

TI__Mastermind 27200 points

Hi John,

Hope you had a good July 4th!

I think we need to take a step back and look at the data again. First the terminology: "output" means output of the loop - it's the quantity we are trying to control, not what we're controlling it with. In this way, y(k) is the measured output. u(k) is the control effort - OK it's the "output" of the controller, but not of the loop. I think it's safest if we just call these y(k) and u(k).

From the data I graphed, it seems in order to make y(k) move in one direction, u(k) has to move in the opposite direction. There seems to be an inversion going on in the plant. That's what I'd like to clarify because if there is, the controller isn't going to work. If you are able to just inject u(k) (perhaps manually, without involving the controller at all) and log the y(k) it might tell us a lot.

Regards,

Richard

0 Richard Poley over 7 years ago in reply to Richard Poley

TI__Mastermind 27200 points

John,

Thanks for the FastRTS feedback. I'll be looking into that later today. Will come back to you.

Regards,

Richard

0 John Westmoreland43 over 7 years ago in reply to Richard Poley

Guru 13945 points

Richard,

OK - I will produce a synthetic u(k) and we'll see what y(k) does.

I hope you caught where I said EF:1 in the data means that point should not be used.

I'll get this done ASAP.

Thanks,
John

0 John Westmoreland43 over 7 years ago in reply to Richard Poley

Guru 13945 points

Richard,

OK - thanks for that,
John

0 John Westmoreland43 over 7 years ago in reply to John Westmoreland43

Guru 13945 points

Richard,

Here is the result:

UK_MAX = 1.0f
UK_MIN = -1.0f
PDC - Output using Synthetic u(k)
y(k) - output from plant using PDC that computes PWM

CH:31,CL:64, D1440.000000, uk:1.000000, lk:0.000000, PDC:0.000008, rk:0.960000, yk:0.470000, HR:0, HF:0, DC:3, EF:0
CH:36,CL:58, D1418.400024, uk:0.970000, lk:0.000000, PDC:1.500008, rk:0.960000, yk:0.360000, HR:0, HF:0, DC:4, EF:0
CH:26,CL:69, D1411.200073, uk:0.960000, lk:0.000000, PDC:2.000000, rk:0.960000, yk:0.260000, HR:83, HF:1, DC:5, EF:0
CH:14,CL:80, D1404.000000, uk:0.950000, lk:0.000000, PDC:2.500000, rk:0.960000, yk:0.140000, HR:77, HF:61, DC:1, EF:0
CH:101,CL:91, D1396.800049, uk:0.940000, lk:0.000000, PDC:3.000000, rk:0.960000, yk:1.010000, HR:72, HF:79, DC:2, EF:0
CH:102,CL:98, D1389.600098, uk:0.930000, lk:0.000000, PDC:3.500000, rk:0.960000, yk:1.020000, HR:83, HF:83, DC:3, EF:0
CH:13,CL:81, D1382.400024, uk:0.920000, lk:0.000000, PDC:4.000000, rk:0.960000, yk:0.130000, HR:86, HF:64, DC:4, EF:0
CH:24,CL:71, D1375.199951, uk:0.910000, lk:0.000000, PDC:4.500008, rk:0.960000, yk:0.240000, HR:80, HF:1, DC:5, EF:0
CH:34,CL:62, D1368.000000, uk:0.900000, lk:0.000000, PDC:5.000008, rk:0.960000, yk:0.340000, HR:75, HF:73, DC:1, EF:0
CH:43,CL:52, D1360.800049, uk:0.890000, lk:0.000000, PDC:5.500000, rk:0.960000, yk:0.430000, HR:86, HF:73, DC:2, EF:0
CH:42,CL:54, D1353.599976, uk:0.880000, lk:0.000000, PDC:6.000008, rk:0.960000, yk:0.420000, HR:76, HF:83, DC:3, EF:0
CH:32,CL:62, D1346.400024, uk:0.870000, lk:0.000000, PDC:6.500008, rk:0.960000, yk:0.320000, HR:86, HF:87, DC:4, EF:0
CH:23,CL:72, D1339.199951, uk:0.860000, lk:0.000000, PDC:7.000008, rk:0.960000, yk:0.230000, HR:91, HF:1, DC:5, EF:0
CH:15,CL:80, D1331.999878, uk:0.850000, lk:0.000000, PDC:7.500015, rk:0.960000, yk:0.150000, HR:80, HF:72, DC:1, EF:0
CH:102,CL:88, D1324.799927, uk:0.840000, lk:0.000000, PDC:8.000008, rk:0.960000, yk:1.020000, HR:83, HF:76, DC:2, EF:0
CH:100,CL:94, D1317.599976, uk:0.830000, lk:0.000000, PDC:8.500008, rk:0.960000, yk:1.000000, HR:64, HF:81, DC:3, EF:0
CH:10,CL:87, D1310.399902, uk:0.820000, lk:0.000000, PDC:9.000008, rk:0.960000, yk:0.100000, HR:74, HF:66, DC:4, EF:0
CH:18,CL:76, D1303.199951, uk:0.810000, lk:0.000000, PDC:9.500008, rk:0.960000, yk:0.180000, HR:84, HF:1, DC:5, EF:0
CH:27,CL:68, D1296.000000, uk:0.800000, lk:0.000000, PDC:10.000000, rk:0.960000, yk:0.270000, HR:84, HF:96, DC:1, EF:0
CH:33,CL:61, D1288.799927, uk:0.790000, lk:0.000000, PDC:10.500008, rk:0.960000, yk:0.330000, HR:0, HF:90, DC:2, EF:0
CH:42,CL:52, D1281.599976, uk:0.780000, lk:0.000000, PDC:11.000008, rk:0.960000, yk:0.420000, HR:77, HF:89, DC:3, EF:0
CH:45,CL:49, D1274.400024, uk:0.770000, lk:0.000000, PDC:11.500000, rk:0.960000, yk:0.450000, HR:90, HF:65, DC:4, EF:0
CH:37,CL:58, D1267.199951, uk:0.760000, lk:0.000000, PDC:12.000008, rk:0.960000, yk:0.370000, HR:71, HF:1, DC:5, EF:0
CH:31,CL:66, D1260.000000, uk:0.750000, lk:0.000000, PDC:12.500008, rk:0.960000, yk:0.310000, HR:65, HF:91, DC:1, EF:0
CH:22,CL:72, D1252.800049, uk:0.740000, lk:0.000000, PDC:13.000000, rk:0.960000, yk:0.220000, HR:85, HF:62, DC:2, EF:0
CH:16,CL:81, D1245.599976, uk:0.730000, lk:0.000000, PDC:13.500008, rk:0.960000, yk:0.160000, HR:80, HF:63, DC:3, EF:0
CH:8,CL:86, D1238.400024, uk:0.720000, lk:0.000000, PDC:14.000008, rk:0.960000, yk:0.080000, HR:64, HF:87, DC:4, EF:0
CH:98,CL:95, D1231.200073, uk:0.710000, lk:0.000000, PDC:14.500000, rk:0.960000, yk:0.980000, HR:85, HF:1, DC:5, EF:0
CH:102,CL:95, D1224.000000, uk:0.700000, lk:0.000000, PDC:15.000000, rk:0.960000, yk:1.020000, HR:87, HF:91, DC:1, EF:0
CH:9,CL:85, D1216.800049, uk:0.690000, lk:0.000000, PDC:15.500000, rk:0.960000, yk:0.090000, HR:74, HF:69, DC:2, EF:0
CH:17,CL:78, D1209.600098, uk:0.680000, lk:0.000000, PDC:16.000000, rk:0.960000, yk:0.170000, HR:72, HF:78, DC:3, EF:0
CH:22,CL:72, D1202.400024, uk:0.670000, lk:0.000000, PDC:16.500000, rk:0.960000, yk:0.220000, HR:0, HF:75, DC:4, EF:0
CH:29,CL:65, D1195.199951, uk:0.660000, lk:0.000000, PDC:17.000008, rk:0.960000, yk:0.290000, HR:81, HF:1, DC:5, EF:0
CH:34,CL:61, D1188.000000, uk:0.650000, lk:0.000000, PDC:17.500008, rk:0.960000, yk:0.340000, HR:71, HF:85, DC:1, EF:0
CH:41,CL:54, D1180.800049, uk:0.640000, lk:0.000000, PDC:18.000000, rk:0.960000, yk:0.410000, HR:89, HF:69, DC:2, EF:0
CH:45,CL:49, D1173.599976, uk:0.630000, lk:0.000000, PDC:18.500008, rk:0.960000, yk:0.450000, HR:83, HF:92, DC:3, EF:0
CH:42,CL:50, D1166.400024, uk:0.620000, lk:0.000000, PDC:19.000008, rk:0.960000, yk:0.420000, HR:64, HF:81, DC:4, EF:0
CH:38,CL:57, D1159.199951, uk:0.610000, lk:0.000000, PDC:19.500008, rk:0.960000, yk:0.380000, HR:72, HF:1, DC:5, EF:0
CH:33,CL:63, D1151.999878, uk:0.600000, lk:0.000000, PDC:20.000008, rk:0.960000, yk:0.330000, HR:82, HF:80, DC:1, EF:0
CH:28,CL:67, D1144.799927, uk:0.590000, lk:0.000000, PDC:20.500008, rk:0.960000, yk:0.280000, HR:78, HF:84, DC:2, EF:0
CH:24,CL:73, D1137.599976, uk:0.580000, lk:0.000000, PDC:21.000000, rk:0.960000, yk:0.240000, HR:68, HF:75, DC:3, EF:0
CH:18,CL:76, D1130.399902, uk:0.570000, lk:0.000000, PDC:21.500008, rk:0.960000, yk:0.180000, HR:77, HF:90, DC:4, EF:0
CH:15,CL:82, D1123.199951, uk:0.560000, lk:0.000000, PDC:22.000008, rk:0.960000, yk:0.150000, HR:85, HF:1, DC:5, EF:0
CH:10,CL:85, D1116.000000, uk:0.550000, lk:0.000000, PDC:22.500000, rk:0.960000, yk:0.100000, HR:65, HF:82, DC:1, EF:0
CH:100,CL:90, D1108.799927, uk:0.540000, lk:0.000000, PDC:23.000008, rk:0.960000, yk:1.000000, HR:72, HF:62, DC:2, EF:0
CH:101,CL:95, D1101.599976, uk:0.530000, lk:0.000000, PDC:23.500008, rk:0.960000, yk:1.010000, HR:62, HF:74, DC:3, EF:0
CH:101,CL:96, D1094.400024, uk:0.520000, lk:0.000000, PDC:24.000000, rk:0.960000, yk:1.010000, HR:71, HF:61, DC:4, EF:0
CH:102,CL:90, D1087.199951, uk:0.510000, lk:0.000000, PDC:24.500008, rk:0.960000, yk:1.020000, HR:70, HF:1, DC:5, EF:0
CH:8,CL:88, D1080.000000, uk:0.500000, lk:0.000000, PDC:25.000008, rk:0.960000, yk:0.080000, HR:66, HF:81, DC:1, EF:0
CH:12,CL:84, D1072.800049, uk:0.490000, lk:0.000000, PDC:25.500000, rk:0.960000, yk:0.120000, HR:73, HF:64, DC:2, EF:0
CH:14,CL:81, D1065.599976, uk:0.480000, lk:0.000000, PDC:26.000008, rk:0.960000, yk:0.140000, HR:0, HF:64, DC:3, EF:0
CH:18,CL:76, D1058.400024, uk:0.470000, lk:0.000000, PDC:26.500008, rk:0.960000, yk:0.180000, HR:74, HF:80, DC:4, EF:0
CH:21,CL:74, D1051.200073, uk:0.460000, lk:0.000000, PDC:27.000000, rk:0.960000, yk:0.210000, HR:89, HF:1, DC:5, EF:0
CH:22,CL:72, D1044.000000, uk:0.450000, lk:0.000000, PDC:27.500000, rk:0.960000, yk:0.220000, HR:61, HF:64, DC:1, EF:0
CH:26,CL:69, D1036.800049, uk:0.440000, lk:0.000000, PDC:28.000000, rk:0.960000, yk:0.260000, HR:77, HF:74, DC:2, EF:0
CH:29,CL:68, D1029.599976, uk:0.430000, lk:0.000000, PDC:28.500008, rk:0.960000, yk:0.290000, HR:70, HF:75, DC:3, EF:0
CH:31,CL:63, D1022.399963, uk:0.420000, lk:0.000000, PDC:29.000008, rk:0.960000, yk:0.310000, HR:81, HF:71, DC:4, EF:0
CH:32,CL:63, D1015.199951, uk:0.410000, lk:0.000000, PDC:29.500008, rk:0.960000, yk:0.320000, HR:80, HF:1, DC:5, EF:0
CH:35,CL:60, D1008.000000, uk:0.400000, lk:0.000000, PDC:30.000008, rk:0.960000, yk:0.350000, HR:84, HF:73, DC:1, EF:0
CH:35,CL:59, D1000.799988, uk:0.390000, lk:0.000000, PDC:30.500008, rk:0.960000, yk:0.350000, HR:89, HF:65, DC:2, EF:0
CH:39,CL:58, D993.599976, uk:0.380000, lk:0.000000, PDC:31.000008, rk:0.960000, yk:0.390000, HR:82, HF:86, DC:3, EF:0
CH:40,CL:57, D986.400024, uk:0.370000, lk:0.000000, PDC:31.500000, rk:0.960000, yk:0.400000, HR:72, HF:65, DC:4, EF:0
CH:40,CL:55, D979.200012, uk:0.360000, lk:0.000000, PDC:32.000008, rk:0.960000, yk:0.400000, HR:78, HF:1, DC:5, EF:0
CH:42,CL:53, D972.000000, uk:0.350000, lk:0.000000, PDC:32.500008, rk:0.960000, yk:0.420000, HR:84, HF:73, DC:1, EF:0
CH:42,CL:54, D964.800049, uk:0.340000, lk:0.000000, PDC:33.000000, rk:0.960000, yk:0.420000, HR:65, HF:65, DC:2, EF:0
CH:43,CL:52, D957.599976, uk:0.330000, lk:0.000000, PDC:33.500000, rk:0.960000, yk:0.430000, HR:87, HF:90, DC:3, EF:0
CH:45,CL:52, D950.399963, uk:0.320000, lk:0.000000, PDC:34.000008, rk:0.960000, yk:0.450000, HR:71, HF:87, DC:4, EF:0
CH:44,CL:51, D943.199951, uk:0.310000, lk:0.000000, PDC:34.500008, rk:0.960000, yk:0.440000, HR:83, HF:1, DC:5, EF:0
CH:45,CL:49, D935.999939, uk:0.300000, lk:0.000000, PDC:35.000008, rk:0.960000, yk:0.450000, HR:63, HF:74, DC:1, EF:0
CH:44,CL:51, D928.799988, uk:0.290000, lk:0.000000, PDC:35.500000, rk:0.960000, yk:0.440000, HR:72, HF:66, DC:2, EF:0
CH:45,CL:50, D921.599976, uk:0.280000, lk:0.000000, PDC:36.000008, rk:0.960000, yk:0.450000, HR:66, HF:86, DC:3, EF:0
CH:46,CL:51, D914.399963, uk:0.270000, lk:0.000000, PDC:36.500008, rk:0.960000, yk:0.460000, HR:88, HF:77, DC:4, EF:0
CH:44,CL:52, D907.200012, uk:0.260000, lk:0.000000, PDC:37.000000, rk:0.960000, yk:0.440000, HR:89, HF:1, DC:5, EF:0
CH:45,CL:51, D900.000000, uk:0.250000, lk:0.000000, PDC:37.500008, rk:0.960000, yk:0.450000, HR:82, HF:84, DC:1, EF:0
CH:44,CL:51, D892.799988, uk:0.240000, lk:0.000000, PDC:38.000004, rk:0.960000, yk:0.440000, HR:90, HF:81, DC:2, EF:0
CH:41,CL:53, D885.600037, uk:0.230000, lk:0.000000, PDC:38.500000, rk:0.960000, yk:0.410000, HR:71, HF:92, DC:3, EF:0
CH:42,CL:53, D878.400024, uk:0.220000, lk:0.000000, PDC:39.000004, rk:0.960000, yk:0.420000, HR:68, HF:67, DC:4, EF:0
CH:39,CL:56, D871.200012, uk:0.210000, lk:0.000000, PDC:39.500004, rk:0.960000, yk:0.390000, HR:82, HF:1, DC:5, EF:0
CH:39,CL:56, D864.000061, uk:0.200000, lk:0.000000, PDC:39.999996, rk:0.960000, yk:0.390000, HR:89, HF:76, DC:1, EF:0
CH:38,CL:59, D856.800049, uk:0.190000, lk:0.000000, PDC:40.500004, rk:0.960000, yk:0.380000, HR:81, HF:92, DC:2, EF:0
CH:35,CL:61, D849.599976, uk:0.180000, lk:0.000000, PDC:41.000004, rk:0.960000, yk:0.350000, HR:82, HF:68, DC:3, EF:0
CH:32,CL:62, D842.399963, uk:0.170000, lk:0.000000, PDC:41.500008, rk:0.960000, yk:0.320000, HR:89, HF:90, DC:4, EF:0
CH:31,CL:64, D835.199951, uk:0.160000, lk:0.000000, PDC:42.000008, rk:0.960000, yk:0.310000, HR:65, HF:1, DC:5, EF:0
CH:30,CL:67, D828.000000, uk:0.150000, lk:0.000000, PDC:42.500000, rk:0.960000, yk:0.300000, HR:62, HF:90, DC:1, EF:0
CH:28,CL:67, D820.799988, uk:0.140000, lk:0.000000, PDC:43.000008, rk:0.960000, yk:0.280000, HR:81, HF:92, DC:2, EF:0
CH:25,CL:70, D813.599976, uk:0.130000, lk:0.000000, PDC:43.500008, rk:0.960000, yk:0.250000, HR:86, HF:70, DC:3, EF:0
CH:22,CL:72, D806.400024, uk:0.120000, lk:0.000000, PDC:44.000000, rk:0.960000, yk:0.220000, HR:70, HF:80, DC:4, EF:0
CH:18,CL:76, D799.200012, uk:0.110000, lk:0.000000, PDC:44.500004, rk:0.960000, yk:0.180000, HR:84, HF:1, DC:5, EF:0
CH:16,CL:78, D792.000000, uk:0.100000, lk:0.000000, PDC:45.000004, rk:0.960000, yk:0.160000, HR:83, HF:73, DC:1, EF:0
CH:12,CL:83, D784.800049, uk:0.090000, lk:0.000000, PDC:45.500000, rk:0.960000, yk:0.120000, HR:62, HF:87, DC:2, EF:0
CH:10,CL:85, D777.600037, uk:0.080000, lk:0.000000, PDC:45.999996, rk:0.960000, yk:0.100000, HR:62, HF:71, DC:3, EF:0
CH:102,CL:90, D770.400024, uk:0.070000, lk:0.000000, PDC:46.500004, rk:0.960000, yk:1.020000, HR:84, HF:89, DC:4, EF:0
CH:102,CL:97, D763.199951, uk:0.060000, lk:0.000000, PDC:47.000008, rk:0.960000, yk:1.020000, HR:67, HF:1, DC:5, EF:0
CH:102,CL:95, D755.999939, uk:0.050000, lk:0.000000, PDC:47.500008, rk:0.960000, yk:1.020000, HR:69, HF:66, DC:1, EF:0
CH:100,CL:96, D748.799988, uk:0.040000, lk:0.000000, PDC:48.000000, rk:0.960000, yk:1.000000, HR:83, HF:80, DC:2, EF:0
CH:9,CL:86, D741.599976, uk:0.030000, lk:0.000000, PDC:48.500008, rk:0.960000, yk:0.090000, HR:95, HF:82, DC:3, EF:0
CH:12,CL:83, D734.399963, uk:0.020000, lk:0.000000, PDC:49.000008, rk:0.960000, yk:0.120000, HR:91, HF:62, DC:4, EF:0
CH:18,CL:77, D727.200012, uk:0.010000, lk:0.000000, PDC:49.500000, rk:0.960000, yk:0.180000, HR:62, HF:1, DC:5, EF:0
CH:22,CL:73, D720.000000, uk:0.000000, lk:0.000000, PDC:50.000004, rk:0.960000, yk:0.220000, HR:95, HF:66, DC:1, EF:0
CH:27,CL:67, D712.799988, uk:-0.010000, lk:0.000000, PDC:50.500004, rk:0.960000, yk:0.270000, HR:65, HF:89, DC:2, EF:0
CH:33,CL:62, D705.600037, uk:-0.020000, lk:0.000000, PDC:51.000000, rk:0.960000, yk:0.330000, HR:73, HF:72, DC:3, EF:0
CH:38,CL:57, D698.400024, uk:-0.030000, lk:0.000000, PDC:51.500000, rk:0.960000, yk:0.380000, HR:69, HF:67, DC:4, EF:0
CH:44,CL:53, D691.200012, uk:-0.040000, lk:0.000000, PDC:52.000000, rk:0.960000, yk:0.440000, HR:86, HF:1, DC:5, EF:0
CH:47,CL:50, D684.000000, uk:-0.050000, lk:0.000000, PDC:52.500004, rk:0.960000, yk:0.470000, HR:90, HF:64, DC:1, EF:0
CH:40,CL:54, D676.799988, uk:-0.060000, lk:0.000000, PDC:53.000004, rk:0.960000, yk:0.400000, HR:76, HF:61, DC:2, EF:0
CH:34,CL:61, D669.599976, uk:-0.070000, lk:0.000000, PDC:53.500004, rk:0.960000, yk:0.340000, HR:68, HF:71, DC:3, EF:0
CH:29,CL:65, D662.400024, uk:-0.080000, lk:0.000000, PDC:54.000004, rk:0.960000, yk:0.290000, HR:62, HF:72, DC:4, EF:0
CH:21,CL:73, D655.200012, uk:-0.090000, lk:0.000000, PDC:54.500000, rk:0.960000, yk:0.210000, HR:81, HF:1, DC:5, EF:0
CH:16,CL:78, D648.000000, uk:-0.100000, lk:0.000000, PDC:55.000000, rk:0.960000, yk:0.160000, HR:88, HF:79, DC:1, EF:0
CH:8,CL:86, D640.799988, uk:-0.110000, lk:0.000000, PDC:55.500004, rk:0.960000, yk:0.080000, HR:91, HF:86, DC:2, EF:0
CH:101,CL:95, D633.599976, uk:-0.120000, lk:0.000000, PDC:56.000004, rk:0.960000, yk:1.010000, HR:63, HF:62, DC:3, EF:0
CH:99,CL:96, D626.400024, uk:-0.130000, lk:0.000000, PDC:56.500000, rk:0.960000, yk:0.990000, HR:77, HF:72, DC:4, EF:0
CH:10,CL:85, D619.200012, uk:-0.140000, lk:0.000000, PDC:57.000004, rk:0.960000, yk:0.100000, HR:63, HF:1, DC:5, EF:0
CH:18,CL:78, D612.000000, uk:-0.150000, lk:0.000000, PDC:57.500000, rk:0.960000, yk:0.180000, HR:76, HF:65, DC:1, EF:0
CH:24,CL:70, D604.800049, uk:-0.160000, lk:0.000000, PDC:58.000000, rk:0.960000, yk:0.240000, HR:85, HF:64, DC:2, EF:0
CH:31,CL:63, D597.599976, uk:-0.170000, lk:0.000000, PDC:58.500004, rk:0.960000, yk:0.310000, HR:64, HF:63, DC:3, EF:0
CH:39,CL:55, D590.400024, uk:-0.180000, lk:0.000000, PDC:59.000000, rk:0.960000, yk:0.390000, HR:66, HF:85, DC:4, EF:0
CH:47,CL:48, D583.200012, uk:-0.190000, lk:0.000000, PDC:59.500004, rk:0.960000, yk:0.470000, HR:63, HF:1, DC:5, EF:0
CH:37,CL:57, D576.000000, uk:-0.200000, lk:0.000000, PDC:60.000004, rk:0.960000, yk:0.370000, HR:91, HF:76, DC:1, EF:0
CH:30,CL:64, D568.799988, uk:-0.210000, lk:0.000000, PDC:60.500000, rk:0.960000, yk:0.300000, HR:63, HF:65, DC:2, EF:0
CH:23,CL:74, D561.599976, uk:-0.220000, lk:0.000000, PDC:61.000004, rk:0.960000, yk:0.230000, HR:92, HF:67, DC:3, EF:0
CH:13,CL:82, D554.399963, uk:-0.230000, lk:0.000000, PDC:61.500004, rk:0.960000, yk:0.130000, HR:71, HF:69, DC:4, EF:0
CH:102,CL:94, D547.200012, uk:-0.240000, lk:0.000000, PDC:62.000000, rk:0.960000, yk:1.020000, HR:83, HF:1, DC:5, EF:0
CH:97,CL:95, D540.000000, uk:-0.250000, lk:0.000000, PDC:62.500004, rk:0.960000, yk:0.970000, HR:63, HF:68, DC:1, EF:0
CH:12,CL:83, D532.799988, uk:-0.260000, lk:0.000000, PDC:63.000004, rk:0.960000, yk:0.120000, HR:81, HF:74, DC:2, EF:0
CH:22,CL:73, D525.600037, uk:-0.270000, lk:0.000000, PDC:63.500000, rk:0.960000, yk:0.220000, HR:62, HF:81, DC:3, EF:0
CH:30,CL:65, D518.400024, uk:-0.280000, lk:0.000000, PDC:64.000000, rk:0.960000, yk:0.300000, HR:91, HF:89, DC:4, EF:0
CH:41,CL:53, D511.200012, uk:-0.290000, lk:0.000000, PDC:64.500000, rk:0.960000, yk:0.410000, HR:82, HF:1, DC:5, EF:0
CH:44,CL:52, D504.000031, uk:-0.300000, lk:0.000000, PDC:65.000000, rk:0.960000, yk:0.440000, HR:61, HF:79, DC:1, EF:0
CH:33,CL:61, D496.799988, uk:-0.310000, lk:0.000000, PDC:65.500000, rk:0.960000, yk:0.330000, HR:82, HF:65, DC:2, EF:0
CH:24,CL:70, D489.600006, uk:-0.320000, lk:0.000000, PDC:66.000000, rk:0.960000, yk:0.240000, HR:87, HF:88, DC:3, EF:0
CH:13,CL:82, D482.400024, uk:-0.330000, lk:0.000000, PDC:66.500000, rk:0.960000, yk:0.130000, HR:65, HF:75, DC:4, EF:0
CH:101,CL:95, D475.199982, uk:-0.340000, lk:0.000000, PDC:67.000000, rk:0.960000, yk:1.010000, HR:64, HF:1, DC:5, EF:0
CH:103,CL:87, D467.999969, uk:-0.350000, lk:0.000000, PDC:67.500000, rk:0.960000, yk:1.030000, HR:90, HF:77, DC:1, EF:0
CH:19,CL:79, D460.799988, uk:-0.360000, lk:0.000000, PDC:68.000000, rk:0.960000, yk:0.190000, HR:63, HF:74, DC:2, EF:0
CH:28,CL:67, D453.600006, uk:-0.370000, lk:0.000000, PDC:68.500000, rk:0.960000, yk:0.280000, HR:69, HF:68, DC:3, EF:0
CH:38,CL:56, D446.399994, uk:-0.380000, lk:0.000000, PDC:69.000000, rk:0.960000, yk:0.380000, HR:32, HF:65, DC:4, EF:0
CH:43,CL:52, D439.200012, uk:-0.390000, lk:0.000000, PDC:69.500000, rk:0.960000, yk:0.430000, HR:83, HF:1, DC:5, EF:0
CH:31,CL:64, D432.000031, uk:-0.400000, lk:0.000000, PDC:70.000000, rk:0.960000, yk:0.310000, HR:74, HF:68, DC:1, EF:0
CH:20,CL:75, D424.800018, uk:-0.410000, lk:0.000000, PDC:70.500000, rk:0.960000, yk:0.200000, HR:78, HF:91, DC:2, EF:0
CH:7,CL:88, D417.600037, uk:-0.420000, lk:0.000000, PDC:71.000000, rk:0.960000, yk:0.070000, HR:85, HF:70, DC:3, EF:0
CH:101,CL:96, D410.400024, uk:-0.430000, lk:0.000000, PDC:71.500000, rk:0.960000, yk:1.010000, HR:66, HF:85, DC:4, EF:0
CH:15,CL:80, D403.200012, uk:-0.440000, lk:0.000000, PDC:72.000000, rk:0.960000, yk:0.150000, HR:80, HF:1, DC:5, EF:0
CH:27,CL:68, D396.000000, uk:-0.450000, lk:0.000000, PDC:72.500000, rk:0.960000, yk:0.270000, HR:67, HF:90, DC:1, EF:0
CH:41,CL:55, D388.800018, uk:-0.460000, lk:0.000000, PDC:73.000000, rk:0.960000, yk:0.410000, HR:66, HF:64, DC:2, EF:0
CH:43,CL:54, D381.599976, uk:-0.470000, lk:0.000000, PDC:73.500000, rk:0.960000, yk:0.430000, HR:91, HF:77, DC:3, EF:0
CH:28,CL:66, D374.399994, uk:-0.480000, lk:0.000000, PDC:74.000000, rk:0.960000, yk:0.280000, HR:78, HF:86, DC:4, EF:0
CH:14,CL:81, D367.199982, uk:-0.490000, lk:0.000000, PDC:74.500000, rk:0.960000, yk:0.140000, HR:76, HF:1, DC:5, EF:0
CH:102,CL:97, D360.000000, uk:-0.500000, lk:0.000000, PDC:75.000000, rk:0.960000, yk:1.020000, HR:61, HF:81, DC:1, EF:0
CH:10,CL:85, D352.800018, uk:-0.510000, lk:0.000000, PDC:75.500000, rk:0.960000, yk:0.100000, HR:87, HF:74, DC:2, EF:0
CH:23,CL:72, D345.600006, uk:-0.520000, lk:0.000000, PDC:76.000000, rk:0.960000, yk:0.230000, HR:74, HF:84, DC:3, EF:0
CH:38,CL:56, D338.400024, uk:-0.530000, lk:0.000000, PDC:76.500000, rk:0.960000, yk:0.380000, HR:63, HF:70, DC:4, EF:0
CH:43,CL:54, D331.200012, uk:-0.540000, lk:0.000000, PDC:77.000000, rk:0.960000, yk:0.430000, HR:61, HF:1, DC:5, EF:0
CH:28,CL:66, D324.000000, uk:-0.550000, lk:0.000000, PDC:77.500000, rk:0.960000, yk:0.280000, HR:76, HF:85, DC:1, EF:0
CH:13,CL:82, D316.799988, uk:-0.560000, lk:0.000000, PDC:78.000000, rk:0.960000, yk:0.130000, HR:82, HF:76, DC:2, EF:0
CH:102,CL:48, D309.600006, uk:-0.570000, lk:0.000000, PDC:78.500000, rk:0.960000, yk:1.020000, HR:79, HF:82, DC:3, EF:0
CH:14,CL:81, D302.400024, uk:-0.580000, lk:0.000000, PDC:79.000000, rk:0.960000, yk:0.140000, HR:79, HF:78, DC:4, EF:0
CH:28,CL:66, D295.200012, uk:-0.590000, lk:0.000000, PDC:79.500000, rk:0.960000, yk:0.280000, HR:74, HF:1, DC:5, EF:0
CH:45,CL:50, D288.000031, uk:-0.600000, lk:0.000000, PDC:80.000000, rk:0.960000, yk:0.450000, HR:66, HF:70, DC:1, EF:0
CH:34,CL:60, D280.799988, uk:-0.610000, lk:0.000000, PDC:80.500000, rk:0.960000, yk:0.340000, HR:0, HF:62, DC:2, EF:0
CH:19,CL:75, D273.600006, uk:-0.620000, lk:0.000000, PDC:81.000000, rk:0.960000, yk:0.190000, HR:62, HF:82, DC:3, EF:0
CH:101,CL:98, D266.399994, uk:-0.630000, lk:0.000000, PDC:81.500000, rk:0.960000, yk:1.010000, HR:68, HF:84, DC:4, EF:0
CH:12,CL:85, D259.200012, uk:-0.640000, lk:0.000000, PDC:82.000000, rk:0.960000, yk:0.120000, HR:68, HF:1, DC:5, EF:0
CH:28,CL:67, D252.000015, uk:-0.650000, lk:0.000000, PDC:82.500000, rk:0.960000, yk:0.280000, HR:63, HF:65, DC:1, EF:0
CH:43,CL:53, D244.800018, uk:-0.660000, lk:0.000000, PDC:83.000000, rk:0.960000, yk:0.430000, HR:67, HF:73, DC:2, EF:0
CH:34,CL:60, D237.600037, uk:-0.670000, lk:0.000000, PDC:83.500000, rk:0.960000, yk:0.340000, HR:84, HF:63, DC:3, EF:0
CH:17,CL:78, D230.399994, uk:-0.680000, lk:0.000000, PDC:84.000000, rk:0.960000, yk:0.170000, HR:68, HF:85, DC:4, EF:0
CH:102,CL:94, D223.199997, uk:-0.690000, lk:0.000000, PDC:84.500000, rk:0.960000, yk:1.020000, HR:78, HF:1, DC:5, EF:0
CH:15,CL:79, D216.000015, uk:-0.700000, lk:0.000000, PDC:85.000000, rk:0.960000, yk:0.150000, HR:84, HF:84, DC:1, EF:0
CH:33,CL:62, D208.800018, uk:-0.710000, lk:0.000000, PDC:85.500000, rk:0.960000, yk:0.330000, HR:66, HF:80, DC:2, EF:0
CH:45,CL:49, D201.600021, uk:-0.720000, lk:0.000000, PDC:86.000000, rk:0.960000, yk:0.450000, HR:71, HF:75, DC:3, EF:0
CH:27,CL:67, D194.400024, uk:-0.730000, lk:0.000000, PDC:86.500000, rk:0.960000, yk:0.270000, HR:0, HF:62, DC:4, EF:0
CH:8,CL:86, D187.199997, uk:-0.740000, lk:0.000000, PDC:87.000000, rk:0.960000, yk:0.080000, HR:78, HF:1, DC:5, EF:0
CH:7,CL:88, D180.000000, uk:-0.750000, lk:0.000000, PDC:87.500000, rk:0.960000, yk:0.070000, HR:63, HF:84, DC:1, EF:0
CH:26,CL:68, D172.800003, uk:-0.760000, lk:0.000000, PDC:88.000000, rk:0.960000, yk:0.260000, HR:85, HF:64, DC:2, EF:0
CH:44,CL:50, D165.600006, uk:-0.770000, lk:0.000000, PDC:88.500000, rk:0.960000, yk:0.440000, HR:90, HF:69, DC:3, EF:0
CH:31,CL:64, D158.400024, uk:-0.780000, lk:0.000000, PDC:89.000000, rk:0.960000, yk:0.310000, HR:73, HF:64, DC:4, EF:0
CH:10,CL:85, D151.200027, uk:-0.790000, lk:0.000000, PDC:89.500000, rk:0.960000, yk:0.100000, HR:69, HF:1, DC:5, EF:0
CH:7,CL:88, D144.000031, uk:-0.800000, lk:0.000000, PDC:90.000000, rk:0.960000, yk:0.070000, HR:84, HF:88, DC:1, EF:0
CH:29,CL:65, D136.800003, uk:-0.810000, lk:0.000000, PDC:90.500000, rk:0.960000, yk:0.290000, HR:82, HF:74, DC:2, EF:0
CH:43,CL:54, D129.600006, uk:-0.820000, lk:0.000000, PDC:91.000000, rk:0.960000, yk:0.430000, HR:76, HF:74, DC:3, EF:0
CH:19,CL:76, D122.400009, uk:-0.830000, lk:0.000000, PDC:91.500000, rk:0.960000, yk:0.190000, HR:91, HF:76, DC:4, EF:0
CH:101,CL:96, D115.200020, uk:-0.840000, lk:0.000000, PDC:92.000000, rk:0.960000, yk:1.010000, HR:83, HF:1, DC:5, EF:0
CH:30,CL:67, D108.000023, uk:-0.850000, lk:0.000000, PDC:92.500000, rk:0.960000, yk:0.300000, HR:83, HF:83, DC:1, EF:0
CH:41,CL:53, D100.800034, uk:-0.860000, lk:0.000000, PDC:93.000000, rk:0.960000, yk:0.410000, HR:82, HF:91, DC:2, EF:0
CH:17,CL:78, D93.599998, uk:-0.870000, lk:0.000000, PDC:93.500000, rk:0.960000, yk:0.170000, HR:68, HF:65, DC:3, EF:0
CH:103,CL:91, D86.400002, uk:-0.880000, lk:0.000000, PDC:94.000000, rk:0.960000, yk:1.030000, HR:72, HF:72, DC:4, EF:0
CH:30,CL:65, D79.200012, uk:-0.890000, lk:0.000000, PDC:94.500000, rk:0.960000, yk:0.300000, HR:78, HF:1, DC:5, EF:0
CH:39,CL:55, D72.000015, uk:-0.900000, lk:0.000000, PDC:95.000000, rk:0.960000, yk:0.390000, HR:74, HF:86, DC:1, EF:0
CH:17,CL:79, D64.800026, uk:-0.910000, lk:0.000000, PDC:95.500000, rk:0.960000, yk:0.170000, HR:68, HF:61, DC:2, EF:0
CH:103,CL:87, D57.600029, uk:-0.920000, lk:0.000000, PDC:96.000000, rk:0.960000, yk:1.030000, HR:82, HF:83, DC:3, EF:0
CH:30,CL:64, D50.399994, uk:-0.930000, lk:0.000000, PDC:96.500000, rk:0.960000, yk:0.300000, HR:73, HF:88, DC:4, EF:0
CH:38,CL:55, D43.200001, uk:-0.940000, lk:0.000000, PDC:97.000000, rk:0.960000, yk:0.380000, HR:77, HF:1, DC:5, EF:0
CH:14,CL:81, D36.000008, uk:-0.950000, lk:0.000000, PDC:97.500000, rk:0.960000, yk:0.140000, HR:70, HF:74, DC:1, EF:0
CH:7,CL:88, D28.800014, uk:-0.960000, lk:0.000000, PDC:98.000000, rk:0.960000, yk:0.070000, HR:78, HF:87, DC:2, EF:0
CH:32,CL:62, D21.600021, uk:-0.970000, lk:0.000000, PDC:98.500000, rk:0.960000, yk:0.320000, HR:64, HF:73, DC:3, EF:0
CH:39,CL:56, D14.400029, uk:-0.980000, lk:0.000000, PDC:99.000000, rk:0.960000, yk:0.390000, HR:65, HF:78, DC:4, EF:0
CH:14,CL:81, D7.200036, uk:-0.990000, lk:0.000000, PDC:99.500000, rk:0.960000, yk:0.140000, HR:82, HF:1, DC:5, EF:0
CH:10,CL:87, D0.000000, uk:-1.000000, lk:0.000000, PDC:100.000000, rk:0.960000, yk:0.100000, HR:83, HF:84, DC:1, EF:0
CH:32,CL:61, D1432.800049, uk:0.990000, lk:0.000000, PDC:0.500008, rk:0.960000, yk:0.320000, HR:73, HF:89, DC:2, EF:0
CH:31,CL:63, D1425.599976, uk:0.980000, lk:0.000000, PDC:1.000008, rk:0.960000, yk:0.310000, HR:87, HF:78, DC:3, EF:0
CH:21,CL:73, D1418.400024, uk:0.970000, lk:0.000000, PDC:1.500008, rk:0.960000, yk:0.210000, HR:73, HF:81, DC:4, EF:0
CH:10,CL:84, D1411.200073, uk:0.960000, lk:0.000000, PDC:2.000000, rk:0.960000, yk:0.100000, HR:91, HF:1, DC:5, EF:0

Thanks,
John

0 John Westmoreland43 over 7 years ago in reply to John Westmoreland43

Guru 13945 points

Richard,

I believe this system can be controlled by a PID; I don't think that's the issue - at least I hope. I may have not modeled the problem exactly correct; I'm working on that now. I'm pretty sure as long as I get an accurate model with the boundary conditions correct then the PID will be fine.

I just was unsure of the PID in the beginning because it was just bouncing between Umin and Umax.

At the same time I hope the above is what you were looking for. Of course the plant model will only affect y(k); but I want to see if I can feed in a better value for that.

Thanks,
John

0 John Westmoreland43 over 7 years ago in reply to John Westmoreland43

Guru 13945 points

Richard,

When I throw something like this at y(k) - the PID holds pretty well, steady state:

yk = (fmaxf((float)control_valH,(float)control_valL) - fminf((float)control_valH,(float)control_valL)) / 100.0f ;

This appears to be ok for l(k) as long as nothing is saturating:

lk = fmaxf((float)control_valH,(float)control_valL) / 100.0f;

Regards,
John

0 Richard Poley over 7 years ago in reply to John Westmoreland43

TI__Mastermind 27200 points

Hi John,

The (uk,yk) data doesn't make much sense. What I'm looking for is an indication that we don't have an inversion in the loop, but since it is regulating that seems unlikely.

I don't understand your approach setting l(k) this way, but I don't know what control_valH & control_valL are so maybe it makes sense. The key thing is that l(k) remain at 1 when there is no saturation, and at 0 when there is.

Sorry I haven't got back to you with the FastRTS question. I have run into a few issues running that on my machine. I'll come back as soon as I can. Please keep me posted on your progress. Thanks.

Regards,

Richard

0 John Westmoreland43 over 7 years ago in reply to Richard Poley

Guru 13945 points

Richard,

I need to understand what you mean by inversion in the loop - the control_valH and control_valL have operational limits; and when they are outside of boundary conditions they are not to be used - this is how y(k) is computed.

If y(k) > r(k) - then I see u(k) go negative - in some cases/tests I'm taking fabsf(uk) since that's OK for this system. If control_valH is off by x, then control_valL is off by |x|. That's set by definition in this system. Where |x| is fabsf(rk - control_valH/L / 100.0f) .

So, when you say you are looking for an inversion; do you mean when u(k) goes negative?

They way things are programmed now; when control_valH goes from a low value to r(k) - the PWM decreases.
When control_valL goes from a high value to a low value to r(k) - the PWM decreases to control the system.

In the system, control_valH by definition is always lower than r(k) and the system is 'locked' when
control_valH = r(k) or within a few counts.
control_valL is always greater than r(k) and is locked when control_valL = r(k).

This is the design of the system right now.

A simple equation is:

fminf(control_valH,control_valL) || fmaxf(control_valH,control_valL) == r(k)
By definition if that is true then the system is being controlled and is stable as long as it is operating withing the boundary conditions.

Understood regarding the FastRTS - I'll test it when you have it ready.

And, I had thought it was the other way around regarding l(k) - that it was 1 when saturated and 0 when it wasn't - so I'l change that.
I thought it was a linear saturation upper bound.

Thanks,
John

0 Richard Poley over 7 years ago in reply to John Westmoreland43

TI__Mastermind 27200 points

Hi John,

Sorry, I'm not completely following the structure but I'll take your word that it's working as it's supposed to.

What I meant by an "inversion in the loop" was this: earlier it seemed that y(k) was responding in the opposite direction to u(k). I plotted the data you sent and the slope of y(k) was -2 times that of u(k), so when you made u(k) more positive, y(k) was becoming more negative, and vice-versa. In that case neither the PID nor NLPID controller would operate as intended. It sounds like you are making progress right now, but if there is an issue with the library I'm happy to get on a call.

I'll put some time into the FastRTS library on Monday. Have a nice week-end.

Regards,

Richard

0 John Westmoreland43 over 7 years ago in reply to Richard Poley

Guru 13945 points

Hello Richard,

I can change the mathematics or scale some of the variables to get things to track linearly; but the behavior you describe is how the system is operating and also was one of my chief concerns early on.

I am able to get the loop in a stable state; so that is of course a good sign.

Since the 3.0 DCL release is new; I just wanted to know if this behavior is OK or not, but since I am seeing stable states I suppose it's OK. I may go back to the DCL that's in C2KW 1.04 just to verify a few things.

Keeping the system in a stable state is of course the challenge.

OK about the FastRTS - have a nice weekend too.

Thanks,
John

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TMS320F28069: PID - Is There an FAQ? Output is just Umax, Umin.