-------------------- P
k0 = 0.01;
kmax = 2.6;
iterations = 100;
increase = (kmax - k0)/iterations;
W = zeros(iterations, 2);

Kp = k0;
for i = 1:iterations
    sim('BorLech3_P');
    values = simout.data;
    time = simout.time;
    deviation = mean(simout.data(end-8:end));
    error_term = time.*(values - deviation).^2;
    Error = trapz(time, error_term);
    W(i,1) = Kp;
    W(i,2) = Error;
    Kp = Kp + increase;
end
f1 = figure;
plot(W(:,1),W(:,2));
Qmin = min(W(:,2));
index = find(W(:,2) == Qmin);
k_opt = W(index, 1);
disp(k_opt);

Kp = k_opt;
sim('BorLech3_P');
v = simout.data;
t = simout.time;
f2 = figure;
plot(t, v);



--------------------- PI

Ti0 = 0.01;
Timax = 2.6;
iterations = 100;
increase = (Timax - Ti0)/iterations;
W = zeros(iterations, 2);

Kp = 2.2;
Ti = Ti0;
for i = 1:iterations
    sim('BorLech3_PI');
    values = simout.data;
    time = simout.time;
    deviation = mean(simout.data(end-8:end));
    error_term = time.*(values - deviation).^2;
    Error = trapz(time, error_term);
    W(i,1) = Ti;
    W(i,2) = Error;
    Ti = Ti + increase;
end
Qmin = min(W(:,2));
index = find(W(:,2) == Qmin);
Ti_opt = W(index, 1);
disp(Ti_opt);

Ti = Ti_opt;
sim('BorLech3_PI');
v = simout.data;
t = simout.time;
f1 = figure;
plot(t, v);


--------------------- PID


Td0 = 0.01;
Tdmax = 2.6;
iterations = 100;
increase = (Tdmax - Td0)/iterations;
W = zeros(iterations, 2);

Kp = 0.3;
Ti = 0.6316;

Td = Td0;
for i = 1:iterations
    sim('BorLech3_PID');
    values = simout.data;
    time = simout.time;
    deviation = mean(simout.data(end-8:end));
    error_term = time.*(values - deviation).^2;
    Error = trapz(time, error_term);
    W(i,1) = Td;
    W(i,2) = Error;
    Td = Td + increase;
end
Qmin = min(W(:,2));
index = find(W(:,2) == Qmin);
Td_opt = W(index, 1);
disp(Td_opt);

Td = Td_opt;
sim('BorLech3_PID');
v = simout.data;
t = simout.time;
f1 = figure;
plot(t, v);