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Update assign 6 documentation

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nandard
2022-09-22 19:55:41 +07:00
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Assignment 6 - Tuning PID/README.md
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@@ -27,12 +27,23 @@ Variable above is the constant for PSO tuning.
## Testing
### ITAE Cost Function
![itae](https://user-images.githubusercontent.com/77116615/191710404-8b5a9d09-9362-4ace-9185-530930ad2abd.png)
![itae](https://user-images.githubusercontent.com/77116615/191751929-89ff2f77-7e1a-45a4-b535-f8f3a768ecc6.png)
### Step Response
![Screenshot 2022-09-22 162423](https://user-images.githubusercontent.com/77116615/191710444-cfb6b03f-4e3c-4651-b775-1ae2c7cd17d0.png)
![step](https://user-images.githubusercontent.com/77116615/191751960-eee905b9-e450-41de-8824-f2157e431238.png)
### Ramp Response
![ramp](https://user-images.githubusercontent.com/77116615/191752006-63e2fe9b-69ad-48eb-881d-7adb2b630819.png)
### Impulse Response
![impulse](https://user-images.githubusercontent.com/77116615/191752036-5e05bfd7-9448-437e-ada6-16d9744b1b89.png)
### Acceleration Response
![acceleration](https://user-images.githubusercontent.com/77116615/191752086-4f392de0-202b-429c-adc9-0935d10275b5.png)
## Results
Elapsed time is 18.701024 seconds.
### Before PSO-PID
```
RiseTime: 1.0161
@@ -46,19 +57,19 @@ Variable above is the constant for PSO tuning.
SSError: 0.9095
```
### After PSO-PID
Kp = 853.2738
Kp = 853.3161
Ki = 73.5218
Ki = 74.1078
Kd = 2500
Kd = 2.4810e+03
```
RiseTime: 9.6110e-04
RiseTime: 9.5287e-04
SettlingTime: 0.0012
SettlingMin: 0.9952
SettlingMax: 0.9977
SettlingMin: 0.9949
SettlingMax: 0.9976
Overshoot: 0
Undershoot: 0
Peak: 0.9977
Peak: 0.9976
PeakTime: 0.0036
SSError: 0.0024
```