import matplotlib.pyplot as plt
import numpy as np
import csv
from numpy import *
from scipy import signal





column=np.array(list(csv.reader(open("planilha.csv","rb"),delimiter=';'))).astype('float')


plt.xlabel('t')
plt.title('Resposta do Sistema')



plt.plot(column, color='r')
plt.show()

k = 13

t63 = column * 0.632
t28 = column * 0.28
tau = 1.5*(t63-t28)
L = 1.5*(t28-(t63/3))

kp = (1.2*tau)/(k*L)
Ti = 2*L
Td = L/2

ki = (kp/Ti)/1000
kd = (kp*Td)/1000

print kp, ki, kd