30 7.5 0.

055

40 8 0.1
20 7.5 0.055

40 7.5 0.055
30 9 0.055

30 7.5 0.044
30 7.5 0.01 +1 +1

30 7.5 0.01 disturbance

30 7.5 0.01 +1 -1

30 7.5 0.01 +1 -1 with disturance

Feedback Control

30 7.5 0.01 +1 +1 with disturbance and Kc =1

30 7.5 0.01 +1 +1 with disturbance and Kc =2

30 7.5 0.01 +1 +1 with disturbance and Kc =2.5