Fit FOPDT (First Order Plus Dead-Time) Models from Measured Data

u
y_model
y_meas
time
Input
Model
Measured
0.01667
70
3.9885658
3.9885658
0.16667
70
3.9885658
4.0013333
Model Parameters
0.31667
70
3.9885658
3.9986239
gain
0.01
0.46667
70
3.9885658
3.9908719
tau
5
0.61667
70
3.9885658
3.9775105
theta
0
0.76667
70
3.9885658
3.9935262
0.91667
70
3.9885658
3.9917175
Minimize Either of These
1.06667
70
3.9885658
3.9803673
Sum of Squared Errors
656.6004
1.21667
70
3.9885658
4.0000664
Sum of Absolute Errors
373.4833
1.36667
70
3.9885658
3.9790291
1.51667
70
3.9885658
3.9939626
1.66667
70
3.9885658
3.9903959
FOPDT Model Fit 1.81667
70
3.9885658
3.9898957
Model
8
1.96667 Measured 70
3.9885658
3.9995885
2.11667
70
3.9885658
3.9833109
6
2.26667
70
3.9885658
3.9918714
4
2.41667
70
3.9885658
3.9953626
2.56667
70
3.9885658
3.993282
2
2.71667
70
3.9885658
3.9913707
2.86667
70
3.9885658
3.9917885
0
3.01667
3.9885658
3.9957641
0
20
40
60
80 70
3.16667
70
3.9885658
4.0029071
Time
3.31667
70
3.9885658
3.9875708
3.46667
70
3.9885658
4.0067704
Manipulated Variable
3.61667
70
3.9885658
3.9957573
100
3.76667
70
3.9885658
3.9878461
80
3.91667
70
3.9885658
3.9805829
4.06667
70
3.9885658
3.9875355
60
4.21667
70
3.9885658
3.9914931
40
4.36667
70
3.9885658
4.0049203
Manipulated
20
4.51667
70
3.9885658
3.9981801
4.66667
70
3.9885658
3.9874118
0
0
20
40
60
80 70
4.81667
3.9885658
4.0013458
4.96667
70
3.9885658
4.0057134
Time
5.11667
70
3.9885658
3.9896067
5.26667
70
3.9885658
3.9922238
5.41667
70
3.9885658
3.9992453
5.56667
70
3.9885658
3.9878756
5.71667
70
3.9885658
3.9962566
5.86667
70
3.9885658
3.9965976
6.01667
70
3.9885658
3.9943212
6.16667
70
3.9885658
3.9950195
6.31667
70
3.9885658
4.0041348
6.46667
70
3.9885658
4.0019101
6.61667
70
3.9885658
3.991656
6.76667
70
3.9885658
3.9962515
6.91667
70
3.9885658
4.0143048
7.06667
70
3.9885658
3.9978812
Input (MV)

Output (PV)

Problem Configuration
y0
time step

3.988566
0.15

7.21667
7.36667
7.51667
7.66667
7.81667
7.96667
8.11667
8.26667
8.41667
8.56667
8.71667
8.86667
9.01667
9.16667
9.31667
9.46667
9.61667
9.76667
9.91667
10.0667
10.2167
10.3667
10.5167
10.6667
10.8167
10.9667
11.1167
11.2667
11.4167
11.5667
11.7167
11.8667
12.0167
12.1667
12.3167
12.4667
12.6167
12.7667
12.9167
13.0667
13.2167
13.3667
13.5167
13.6667
13.8167
13.9667
14.1167
14.2667
14.4167
14.5667
14.7167
14.8667

70
70
70
70
70
70
70
70
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80

3.9885658
3.9885658
3.9885658
3.9885658
3.9885658
3.9885658
3.9885658
3.9885658
3.991521247
3.994389347
3.997172681
3.999873756
4.002495002
4.005038779
4.007507375
4.009903014
4.012227851
4.014483978
4.016673427
4.018798167
4.020860113
4.022861118
4.024802985
4.026687461
4.028516242
4.030290975
4.032013256
4.033684636
4.03530662
4.036880667
4.038408193
4.039890574
4.041329145
4.042725199
4.044079993
4.045394748
4.046670645
4.047908834
4.049110429
4.050276511
4.051408131
4.052506306
4.053572025
4.054606247
4.055609904
4.056583898
4.057529106
4.058446379
4.059336542
4.060200397
4.061038722
4.06185227

3.9933765
3.9830152
3.9991922
3.9962003
3.9852919
3.9952438
4.0062505
3.9839851
3.9869031
4.0002353
4.0240469
4.0581603
4.0977676
4.1368727
4.1898317
4.2364964
4.3080252
4.3849899
4.4480119
4.5115249
4.5714779
4.6189651
4.7035163
4.7487678
4.8025989
4.847808
4.8846018
4.9397765
4.9633916
5.0019476
5.02647
5.057419
5.0838911
5.1034109
5.1298091
5.144206
5.1531344
5.1754248
5.1825917
5.2016269
5.2117185
5.226254
5.2332488
5.2236695
5.2495788
5.250156
5.2656722
5.26355
5.260176
5.2793092
5.2672926
5.2788406

15.0167
15.1667
15.3167
15.4667
15.6167
15.7667
15.9167
16.0667
16.2167
16.3667
16.5167
16.6667
16.8167
16.9667
17.1167
17.2667
17.4167
17.5667
17.7167
17.8667
18.0167
18.1667
18.3167
18.4667
18.6167
18.7667
18.9167
19.0667
19.2167
19.3667
19.5167
19.6667
19.8167
19.9667
20.1167
20.2667
20.4167
20.5667
20.7167
20.8667
21.0167
21.1667
21.3167
21.4667
21.6167
21.7667
21.9167
22.0667
22.2167
22.3667
22.5167
22.6667

80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80
80

4.062641774
4.063407945
4.064151472
4.064873024
4.065573251
4.066252784
4.066912233
4.067552193
4.068173239
4.06877593
4.069360809
4.069928402
4.070479221
4.07101376
4.071532501
4.072035911
4.072524443
4.072998537
4.073458619
4.073905104
4.074338393
4.074758876
4.075166933
4.075562929
4.075947222
4.076320157
4.076682071
4.077033288
4.077374125
4.077704889
4.078025878
4.078337379
4.078639675
4.078933036
4.079217727
4.079494005
4.079762117
4.080022305
4.080274803
4.080519839
4.080757633
4.0809884
4.081212346
4.081429673
4.081640577
4.081845249
4.082043871
4.082236623
4.082423679
4.082605206
4.082781368
4.082952324

5.2732627
5.2902578
5.2842746
5.2859712
5.2843597
5.2910983
5.2759268
5.2986746
5.3042626
5.2882805
5.2920565
5.2972011
5.2817139
5.2954775
5.2971903
5.3083581
5.3012767
5.3025772
5.3001256
5.2999036
5.3039296
5.293324
5.2927135
5.3069296
5.2978385
5.3044006
5.3100407
5.2869759
5.2936348
5.3040694
5.2983209
5.2869832
5.2994948
5.2893819
5.3077889
5.3020142
5.2858991
5.3070635
5.2929456
5.3177802
5.2791802
5.3044135
5.2944937
5.3007712
5.2914972
5.3117279
5.2964978
5.302127
5.2936716
5.296384
5.2976113
5.3084248

22.8167
22.9667
23.1167
23.2667
23.4167
23.5667
23.7167
23.8667
24.0167
24.1667
24.3167
24.4667
24.6167
24.7667
24.9167
25.0667
25.2167
25.3667
25.5167
25.6667
25.8167
25.9667
26.1167
26.2667
26.4167
26.5667
26.7167
26.8667
27.0167
27.1667
27.3167
27.4667
27.6167
27.7667
27.9167
28.0667
28.2167
28.3667
28.5167
28.6667
28.8167
28.9667
29.1167
29.2667
29.4167
29.5667
29.7167
29.8667
30.0167
30.1667
30.3167
30.4667

80
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70

4.083118227
4.08032378
4.077611922
4.074980212
4.07242628
4.069947828
4.067542626
4.065208508
4.062943373
4.060745184
4.058611961
4.056541784
4.05453279
4.052583171
4.050691171
4.048855089
4.047073271
4.045344114
4.043666062
4.042037603
4.040457272
4.038923647
4.037435348
4.035991035
4.034589407
4.033229204
4.031909201
4.03062821
4.029385078
4.028178686
4.027007948
4.025871811
4.024769252
4.023699278
4.022660927
4.021653263
4.020675381
4.0197264
4.018805465
4.017911748
4.017044444
4.016202773
4.015385977
4.014593321
4.013824091
4.013077596
4.012353163
4.01165014
4.010967895
4.010305813
4.009663298
4.009039773

5.312034
5.3004643
5.3015886
5.2735608
5.2354579
5.2107894
5.1284345
5.0866205
5.0287133
4.970571
4.8818375
4.8286668
4.7545755
4.6837926
4.6083829
4.5488247
4.498932
4.4616662
4.4082119
4.3567042
4.3181868
4.2835126
4.2464751
4.2299316
4.1859693
4.1639492
4.1593314
4.1340555
4.116097
4.0836253
4.082783
4.0795524
4.0563404
4.0551582
4.0469262
4.0503312
4.0219568
4.0186982
4.0140025
4.0101108
4.0217897
4.0134042
4.005393
4.0031199
3.9985193
3.995736
4.0075611
4.0087579
4.0014725
4.0086518
3.9961471
3.9981235

30.6167
30.7667
30.9167
31.0667
31.2167
31.3667
31.5167
31.6667
31.8167
31.9667
32.1167
32.2667
32.4167
32.5667
32.7167
32.8667
33.0167
33.1667
33.3167
33.4667
33.6167
33.7667
33.9167
34.0667
34.2167
34.3667
34.5167
34.6667
34.8167
34.9667
35.1167
35.2667
35.4167
35.5667
35.7167
35.8667
36.0167
36.1667
36.3167
36.4667
36.6167
36.7667
36.9167
37.0667
37.2167
37.3667
37.5167
37.6667
37.8167
37.9667
38.1167
38.2667

70
70
70
70
70
70
70
70
70
70
70
70
70
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50
50

4.008434676
4.007847462
4.007277602
4.006724585
4.006187912
4.0056671
4.00516168
4.004671197
4.004195211
4.003733292
4.003285025
4.002850006
4.002427844
3.996107265
3.989973488
3.984020991
3.978244418
3.972638567
3.967198395
3.961919004
3.956795642
3.951823699
3.946998699
3.942316299
3.937772285
3.933362567
3.929083176
3.92493026
3.920900081
3.916989012
3.913193532
3.909510226
3.905935778
3.902466971
3.899100683
3.895833883
3.892663632
3.889587077
3.886601447
3.883704055
3.880892295
3.878163635
3.875515618
3.872945863
3.870452055
3.868031951
3.865683371
3.863404202
3.861192393
3.859045953
3.85696295
3.854941508

3.9932248
4.0038629
3.9868287
3.9963116
4.0059276
3.9975896
3.9954636
3.9974624
3.9884295
3.9982897
3.9997437
4.0045869
4.0071177
3.9703989
3.9908566
3.9545842
3.9051441
3.8195505
3.7109222
3.6172977
3.4691481
3.336048
3.2016018
3.0651516
2.9293667
2.7957717
2.6786382
2.5758504
2.5003181
2.4014555
2.3421791
2.2795259
2.2184508
2.1666014
2.1326712
2.1046332
2.0730639
2.0452464
2.0165574
2.0069769
2.0034147
1.9944112
1.9731614
1.9774872
1.964534
1.9479112
1.954127
1.9523209
1.9449297
1.9542749
1.9463886
1.946879

38.4167
38.5667
38.7167
38.8667
39.0167
39.1667
39.3167
39.4667
39.6167
39.7667
39.9167
40.0667
40.2167
40.3667
40.5167
40.6667
40.8167
40.9667
41.1167
41.2667
41.4167
41.5667
41.7167
41.8667
42.0167
42.1667
42.3167
42.4667
42.6167
42.7667
42.9167
43.0667
43.2167
43.3667
43.5167
43.6667
43.8167
43.9667
44.1167
44.2667
44.4167
44.5667
44.7167
44.8667
45.0167
45.1667
45.3167
45.4667
45.6167
45.7667
45.9167
46.0667

50
50
50
50
50
50
50
50
50
50
50
50
50
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90

3.85297981
3.851076088
3.84922863
3.847435772
3.845695902
3.844007452
3.842368904
3.840778782
3.839235655
3.837738134
3.836284872
3.83487456
3.83350593
3.843999535
3.854183007
3.864065512
3.873655945
3.882962938
3.891994867
3.900759863
3.909265814
3.917520376
3.925530979
3.933304832
3.940848934
3.948170074
3.955274841
3.962169631
3.968860649
3.975353918
3.981655281
3.987770411
3.993704812
3.999463824
4.005052632
4.010476266
4.015739607
4.020847393
4.025804221
4.030614553
4.035282718
4.039812917
4.044209229
4.048475611
4.052615902
4.056633828
4.060533007
4.064316948
4.067989057
4.071552638
4.0750109
4.078366954

1.9554015
1.9295511
1.9275037
1.9385917
1.9343769
1.9155357
1.9316147
1.9407133
1.9418038
1.9222106
1.9351462
1.9277481
1.9350848
1.9405134
1.9492369
1.9999615
2.1152181
2.2740334
2.456504
2.6787187
2.8996934
3.143664
3.3716041
3.6153876
3.8350857
4.0410343
4.240696
4.4465106
4.6522118
4.8069463
4.9781998
5.132576
5.2789182
5.4168382
5.5446609
5.6388056
5.7483791
5.8427366
5.9196634
5.9988176
6.065771
6.1482539
6.2164567
6.2680433
6.3104179
6.3607197
6.4132092
6.4549989
6.4727569
6.5315361
6.5350044
6.5576866

46.2167
46.3667
46.5167
46.6667
46.8167
46.9667
47.1167
47.2667
47.4167
47.5667
47.7167
47.8667
48.0167
48.1667
48.3167
48.4667
48.6167
48.7667
48.9167
49.0667
49.2167
49.3667
49.5167
49.6667
49.8167
49.9667
50.1167
50.2667
50.4167
50.5667
50.7167
50.8667
51.0167
51.1667
51.3167
51.4667
51.6167
51.7667
51.9167
52.0667
52.2167
52.3667
52.5167
52.6667
52.8167
52.9667
53.1167
53.2667
53.4167
53.5667
53.7167
53.8667

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70

4.081623822
4.084784435
4.087851638
4.090828191
4.093716774
4.096519987
4.099240352
4.101880318
4.104442261
4.106928487
4.109341234
4.111682674
4.113954914
4.116159999
4.118299914
4.120376584
4.12239188
4.124347615
4.126245549
4.128087391
4.129874798
4.131609379
4.133292696
4.134926263
4.136511551
4.138049987
4.139542955
4.140991799
4.142397823
4.143762293
4.139175543
4.134724353
4.130404715
4.126212741
4.122144659
4.118196807
4.114365632
4.110647685
4.10703962
4.10353819
4.100140242
4.096842719
4.093642652
4.090537162
4.087523453
4.084598812
4.081760608
4.079006285
4.076333365
4.073739441
4.07122218
4.068779314

6.5860179
6.6165476
6.6310502
6.6426845
6.6625997
6.6744652
6.6923113
6.7117335
6.6978566
6.7028338
6.7161977
6.7265446
6.731099
6.7471478
6.7505708
6.7534164
6.7521772
6.731861
6.751705
6.7746431
6.773138
6.7534832
6.7734004
6.775811
6.7779692
6.7841745
6.7623785
6.7789386
6.7819469
6.7811043
6.7788301
6.7689216
6.7529592
6.7173194
6.6446336
6.5662051
6.4536487
6.3319106
6.1959263
6.0694822
5.9309754
5.7732867
5.630269
5.485883
5.3436267
5.2248423
5.1053288
4.9817258
4.8879992
4.7945369
4.705698
4.62229

54.0167
54.1667
54.3167
54.4667
54.6167
54.7667
54.9167
55.0667
55.2167
55.3667
55.5167
55.6667
55.8167
55.9667
56.1167
56.2667
56.4167
56.5667
56.7167
56.8667
57.0167
57.1667
57.3167
57.4667
57.6167
57.7667
57.9167
58.0667
58.2167
58.3667
58.5167
58.6667
58.8167
58.9667
59.1167
59.2667
59.4167

70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70
70

4.066408647
4.064108043
4.061875432
4.059708805
4.057606212
4.055565759
4.053585611
4.051663985
4.049799152
4.047989433
4.046233199
4.04452887
4.042874911
4.041269835
4.039712195
4.03820059
4.036733661
4.035310085
4.033928583
4.03258791
4.03128686
4.030024262
4.028798979
4.027609909
4.026455981
4.025336157
4.024249429
4.023194818
4.022171376
4.021178181
4.02021434
4.019278984
4.018371272
4.017490387
4.016635537
4.015805951
4.015000882

4.550845
4.481442
4.4124208
4.3590846
4.3271062
4.2879497
4.2533804
4.2326091
4.1918808
4.1506152
4.1459754
4.1217491
4.0842124
4.0839034
4.0777486
4.0732605
4.0531329
4.0524939
4.0578687
4.0335387
4.0463322
4.0273757
4.0206249
4.0162236
4.0224587
4.0178695
4.0060201
4.0006018
4.0001598
3.983284
4.0071595
4.0065949
4.0040957
4.0028818
3.9881579
4.0218058
4.0025267

abs(error)
0
0.0127675
0.0100581
0.0023061
0.0110553
0.0049604
0.0031517
0.0081985
0.0115006
0.0095367
0.0053968
0.0018301
0.0013299
0.0110227
0.0052549
0.0033056
0.0067968
0.0047162
0.0028049
0.0032227
0.0071983
0.0143413
0.000995
0.0182046
0.0071915
0.0007197
0.0079829
0.0010303
0.0029273
0.0163545
0.0096143
0.001154
0.01278
0.0171476
0.0010409
0.003658
0.0106795
0.0006902
0.0076908
0.0080318
0.0057554
0.0064537
0.015569
0.0133443
0.0030902
0.0076857
0.025739
0.0093154

error^2
0
0.000163009
0.000101165
5.3181E-06
0.00012222
2.46056E-05
9.93321E-06
6.72154E-05
0.000132264
9.09486E-05
2.91255E-05
3.34927E-06
1.76863E-06
0.0001215
2.7614E-05
1.0927E-05
4.61965E-05
2.22425E-05
7.86746E-06
1.03858E-05
5.18155E-05
0.000205673
9.90025E-07
0.000331407
5.17177E-05
5.17968E-07
6.37267E-05
1.06152E-06
8.56909E-06
0.00026747
9.24348E-05
1.33172E-06
0.000163328
0.00029404
1.08347E-06
1.3381E-05
0.000114052
4.76376E-07
5.91484E-05
6.45098E-05
3.31246E-05
4.16502E-05
0.000242394
0.00017807
9.54934E-06
5.907E-05
0.000662496
8.67767E-05

0.0048107
0.0055506
0.0106264
0.0076345
0.0032739
0.006678
0.0176847
0.0045807
0.004618147
0.005845953
0.026874219
0.058286544
0.095272598
0.131833921
0.182324325
0.226593386
0.295797349
0.370505922
0.431338473
0.492726733
0.550617787
0.596103982
0.678713315
0.722080339
0.774082658
0.817517025
0.852588544
0.906091864
0.92808498
0.965066933
0.988061807
1.017528426
1.042561955
1.060685701
1.085729107
1.098811252
1.106463755
1.127515966
1.133481271
1.151350389
1.160310369
1.173747694
1.179676775
1.169063253
1.193968896
1.193572102
1.208143094
1.205103621
1.200839458
1.219108803
1.206253878
1.21698833

2.31428E-05
3.08092E-05
0.00011292
5.82856E-05
1.07184E-05
4.45957E-05
0.000312749
2.09828E-05
2.13273E-05
3.41752E-05
0.000722224
0.003397321
0.009076868
0.017380183
0.033242159
0.051344563
0.087496072
0.137274638
0.186052879
0.242779633
0.303179948
0.355339957
0.460651764
0.521400016
0.599203961
0.668334087
0.726907225
0.821002465
0.86134173
0.931354186
0.976266134
1.035364097
1.086935431
1.125054157
1.178807693
1.207386168
1.224262041
1.271292254
1.284779792
1.325607717
1.346320153
1.377683649
1.391637293
1.366708888
1.425561725
1.424614363
1.459609736
1.452274738
1.442015403
1.486226273
1.455048419
1.481060596

1.210620926
1.226849855
1.220123128
1.221098176
1.218786449
1.224845516
1.209014567
1.231122407
1.236089361
1.21950457
1.222695691
1.227272698
1.211234679
1.22446374
1.225657799
1.236322189
1.228752257
1.229578663
1.226666981
1.225998496
1.229591207
1.218565124
1.217546567
1.231366671
1.221891278
1.228080443
1.233358629
1.209942612
1.216260675
1.226364511
1.220295022
1.208645821
1.220855125
1.210448864
1.228571173
1.222520195
1.206136983
1.227041195
1.212670797
1.237260361
1.198422567
1.2234251
1.213281354
1.219341527
1.209856623
1.229882651
1.214453929
1.219890377
1.211247921
1.213778794
1.214829932
1.225472476

1.465603027
1.505160567
1.488700448
1.491080755
1.485440407
1.500246538
1.461716223
1.515662381
1.527916909
1.487191396
1.494984752
1.506198274
1.467089448
1.499311451
1.50223704
1.528492555
1.509832109
1.511863689
1.504711882
1.503072313
1.511894537
1.484900961
1.482419644
1.516263879
1.493018296
1.508181574
1.521173509
1.463961125
1.479290029
1.503969914
1.489119942
1.46082472
1.490487237
1.465186452
1.509387126
1.494555628
1.454766422
1.505630094
1.470570461
1.5308132
1.436216648
1.496768976
1.472051645
1.486793759
1.463753047
1.512611336
1.474898346
1.488132531
1.467121527
1.473258961
1.475811764
1.50178279

1.228915773
1.22014052
1.223976678
1.198580588
1.16303162
1.140841572
1.060891874
1.021411992
0.965769927
0.909825816
0.823225539
0.772125016
0.70004271
0.631209429
0.557691729
0.499969611
0.451858729
0.416322086
0.364545838
0.314666597
0.277729528
0.244588953
0.209039752
0.193940565
0.151379893
0.130719996
0.127422199
0.10342729
0.086711922
0.055446614
0.055775052
0.053680589
0.031571148
0.031458922
0.024265273
0.028677937
0.001281419
0.0010282
0.004802965
0.007800948
0.004745256
0.002798573
0.009992977
0.011473421
0.015304791
0.017341596
0.004792063
0.00289224
0.009495395
0.001654013
0.013516198
0.010916273

1.510233977
1.488742887
1.498118907
1.436595427
1.352642549
1.301519492
1.125491569
1.043282458
0.932711551
0.827783016
0.677700288
0.596177041
0.490059796
0.398425344
0.311020064
0.249969612
0.204176311
0.173324079
0.132893668
0.099015067
0.077133691
0.059823756
0.043697618
0.037612943
0.022915872
0.017087717
0.016236417
0.010697204
0.007518957
0.003074327
0.003110856
0.002881606
0.000996737
0.000989664
0.000588803
0.000822424
1.64203E-06
1.05719E-06
2.30685E-05
6.08548E-05
2.25175E-05
7.83201E-06
9.98596E-05
0.000131639
0.000234237
0.000300731
2.29639E-05
8.36505E-06
9.01625E-05
2.73576E-06
0.000182688
0.000119165

0.015209876
0.003984562
0.020448902
0.010412985
0.000260312
0.0080775
0.00969808
0.007208797
0.015765711
0.005443592
0.003541325
0.001736894
0.004689856
0.025708365
0.000883112
0.029436791
0.073100318
0.153088067
0.256276195
0.344621304
0.487647542
0.615775699
0.745396899
0.877164699
1.008405585
1.137590867
1.250444976
1.34907986
1.420581981
1.515533512
1.571014432
1.629984326
1.687484978
1.735865571
1.766429483
1.791200683
1.819599732
1.844340677
1.870044047
1.876727155
1.877477595
1.883752435
1.902354218
1.895458663
1.905918055
1.920120751
1.911556371
1.911083302
1.916262693
1.904771053
1.91057435
1.908062508

0.00023134
1.58767E-05
0.000418158
0.00010843
6.77622E-08
6.5246E-05
9.40528E-05
5.19668E-05
0.000248558
2.96327E-05
1.2541E-05
3.0168E-06
2.19947E-05
0.00066092
7.79886E-07
0.000866525
0.005343656
0.023435956
0.065677488
0.118763843
0.237800126
0.379179712
0.555616537
0.769417909
1.016881824
1.294112981
1.563612638
1.820016468
2.018053165
2.296841826
2.468086347
2.656848904
2.847605552
3.013229281
3.120273118
3.208399888
3.310943186
3.401592531
3.497064736
3.522104816
3.52492212
3.548523235
3.618951573
3.592763543
3.632523633
3.686863697
3.654047759
3.652239388
3.67206271
3.628152765
3.650294346
3.640702536

1.89757831
1.921524988
1.92172493
1.908844072
1.911319002
1.928471752
1.910754204
1.900065482
1.897431855
1.915527534
1.901138672
1.90712646
1.89842113
1.903486135
1.904946107
1.864104012
1.758437845
1.608929538
1.435490867
1.222041163
1.009572414
0.773856376
0.553926879
0.317917232
0.105763234
0.092864226
0.285421159
0.484340969
0.683351151
0.831592382
0.996544519
1.144805589
1.285213388
1.417374376
1.539608268
1.628329334
1.732639493
1.821889207
1.893859179
1.968203047
2.030488282
2.108440983
2.172247471
2.219567689
2.257801998
2.304085872
2.352676193
2.390681952
2.404767843
2.459983462
2.4599935
2.479319646

3.600803442
3.69225828
3.693026706
3.643685693
3.653140326
3.719003298
3.650981627
3.610248834
3.600247644
3.669245734
3.614328251
3.637131336
3.604002786
3.623259465
3.62881967
3.474883767
3.092103654
2.588654257
2.060634029
1.493384604
1.019236458
0.59885369
0.306834987
0.101071367
0.011185862
0.008623764
0.081465238
0.234586174
0.466968795
0.69154589
0.993100978
1.310579836
1.651773454
2.008950121
2.370393618
2.65145642
3.002039612
3.319280282
3.58670259
3.873823235
4.122882665
4.445523378
4.718659074
4.926480727
5.097669864
5.308811704
5.535085268
5.715360195
5.78290838
6.051518633
6.051568022
6.147025907

2.504394078
2.531763165
2.543198562
2.551856309
2.568882926
2.577945213
2.593070948
2.609853182
2.593414339
2.595905313
2.606856466
2.614861926
2.617144086
2.630987801
2.632270886
2.633039816
2.62978532
2.607513385
2.625459451
2.646555709
2.643263202
2.621873821
2.640107704
2.640884737
2.641457649
2.646124513
2.622835545
2.637946801
2.639549077
2.637342007
2.639654557
2.634197247
2.622554485
2.591106659
2.522488941
2.448008293
2.339283068
2.221262915
2.08888668
1.96594401
1.830835158
1.676443981
1.536626348
1.395345838
1.256103247
1.140243488
1.023568192
0.902719515
0.811665835
0.720797459
0.63447582
0.553510686

6.271989697
6.409824722
6.467858925
6.511970619
6.599159486
6.645801523
6.724016944
6.811333634
6.725797935
6.738724394
6.795700633
6.837502892
6.849443168
6.92209681
6.92885002
6.932898671
6.915770828
6.799126052
6.893037327
7.00425712
6.986840354
6.874222331
6.970168688
6.974272193
6.977298511
7.00197494
6.879266299
6.958763327
6.967219331
6.955572863
6.967776179
6.938995138
6.877792029
6.713833718
6.362950456
5.992744601
5.472245272
4.934008937
4.363447561
3.864935852
3.351957376
2.810464422
2.361220532
1.946990008
1.577795368
1.300155212
1.047691844
0.814902523
0.658801428
0.519548977
0.402559567
0.306374079

0.484436353
0.417333957
0.350545368
0.299375795
0.269499988
0.232383941
0.199794789
0.180945115
0.142081648
0.102625767
0.099742201
0.07722023
0.041337489
0.042633565
0.038036405
0.03505991
0.016399239
0.017183815
0.023940117
0.00095079
0.01504534
0.002648562
0.008174079
0.011386309
0.003997281
0.007466657
0.018229329
0.022593018
0.022011576
0.037894181
0.01305484
0.012684084
0.014275572
0.014608587
0.028477637
0.005999849
0.012474182

0.23467858
0.174167632
0.122882055
0.089625867
0.072630244
0.054002296
0.039917958
0.032741135
0.020187195
0.010532048
0.009948507
0.005962964
0.001708788
0.001817621
0.001446768
0.001229197
0.000268935
0.000295283
0.000573129
9.04002E-07
0.000226362
7.01488E-06
6.68156E-05
0.000129648
1.59783E-05
5.5751E-05
0.000332308
0.000510444
0.000484509
0.001435969
0.000170429
0.000160886
0.000203792
0.000213411
0.000810976
3.59982E-05
0.000155605

FOPDT

4.01

model
4.005

measured

CV Response

3.995

3.99

3.985

3.98

3.975
0

Time