diff --git a/Data.csv b/Data.csv
index f5d6bc0..12b97d4 100644
--- a/Data.csv
+++ b/Data.csv
@@ -1,1839 +1,1488 @@
 Kp	0,110
 Ki	0,090
-Kd	0,000
+Kd	0,001
 Zeit in s	Winkel in Grad	Sollwert in Nm	Istwert in Nm	Erregerspannung in V
-0,042	0,072	0,000	0,115	0,000
-0,128	0,072	0,000	0,090	0,000
-0,215	0,072	0,000	0,055	0,000
-0,292	0,072	0,000	0,092	0,000
-0,370	0,072	0,000	0,065	0,000
-0,453	0,072	0,000	0,080	0,000
-0,528	0,072	0,000	0,098	0,000
-0,600	0,072	0,000	0,104	0,000
-0,683	0,072	0,000	0,197	0,000
-0,766	0,072	0,000	0,381	0,000
-0,848	0,090	0,000	0,489	0,000
-0,932	0,090	0,000	0,561	0,000
-1,016	0,090	0,000	0,621	0,000
-1,100	0,108	0,000	0,607	0,000
-1,185	0,108	0,000	0,592	0,000
-1,266	0,126	0,000	0,546	0,000
-1,351	0,126	0,000	0,453	0,000
-1,426	0,144	0,000	0,377	0,000
-1,505	0,144	0,000	0,387	0,000
-1,582	0,162	0,000	0,361	0,000
-1,656	0,162	0,000	0,342	0,000
-1,735	0,162	0,000	0,301	0,000
-1,816	0,162	0,000	0,268	0,000
-1,905	0,180	0,000	0,307	0,000
-1,985	0,180	0,000	0,310	0,000
-2,072	0,180	0,000	0,326	0,000
-2,156	0,180	0,000	0,365	0,000
-2,240	0,198	0,000	0,414	0,000
-2,325	0,198	0,000	0,496	0,000
-2,404	0,198	0,000	0,600	0,000
-2,488	0,198	0,000	0,591	0,000
-2,566	0,216	0,000	0,587	0,000
-2,645	0,216	0,000	0,646	0,000
-2,722	0,216	0,000	0,647	0,000
-2,803	0,234	0,000	0,667	0,000
-2,886	0,252	0,000	0,657	0,000
-2,968	0,270	0,000	0,585	0,000
-3,054	0,288	0,000	0,647	0,000
-3,139	0,306	0,000	0,574	0,000
-3,221	0,324	0,000	0,550	0,000
-3,307	0,342	0,000	0,611	0,000
-3,385	0,360	0,000	0,634	0,000
-3,460	0,378	0,000	0,671	0,000
-3,537	0,414	0,000	0,586	0,000
-3,613	0,432	0,000	0,541	0,000
-3,692	0,450	0,000	0,660	0,000
-3,772	0,486	0,000	0,695	0,000
-3,857	0,522	0,000	0,631	0,000
-3,938	0,558	0,000	0,683	0,000
-4,017	0,576	0,000	0,812	0,000
-4,101	0,594	0,000	0,949	0,000
-4,183	0,648	0,000	1,000	0,000
-4,265	0,702	0,000	0,907	0,000
-4,347	0,738	0,000	0,974	0,000
-4,425	0,774	0,000	1,040	0,000
-4,500	0,792	0,000	1,143	0,000
-4,571	0,864	0,000	1,097	0,000
-4,650	0,882	0,000	1,191	0,000
-4,733	0,918	0,000	1,267	0,000
-4,816	0,954	0,000	1,239	0,000
-4,900	1,008	0,000	1,325	0,000
-4,983	1,044	0,000	1,236	0,000
-5,066	1,116	0,000	1,156	0,000
-5,149	1,170	0,000	1,140	0,000
-5,261	1,224	0,000	1,170	0,000
-5,367	1,278	0,000	1,087	0,000
-5,459	1,350	0,000	1,098	0,000
-5,533	1,386	0,000	1,146	0,000
-5,616	1,440	0,000	1,169	0,000
-5,700	1,494	0,000	1,162	0,000
-5,783	1,548	0,000	1,182	0,000
-5,870	1,584	0,000	1,198	0,000
-5,949	1,620	0,000	1,199	0,000
-6,033	1,656	0,000	1,284	0,000
-6,116	1,728	0,000	1,247	0,000
-6,209	1,782	0,000	1,191	0,000
-6,293	1,836	0,000	1,136	0,000
-6,376	1,890	0,000	1,112	0,000
-6,453	1,926	0,000	1,158	0,000
-6,533	1,980	0,000	1,189	0,000
-6,616	2,016	0,000	1,252	0,000
-6,697	2,052	0,000	1,289	0,000
-6,770	2,088	0,000	1,332	0,000
-6,859	2,142	0,000	1,326	0,000
-6,933	2,196	0,000	1,338	0,000
-7,026	2,232	0,000	1,334	0,000
-7,110	2,286	0,000	1,303	0,000
-7,185	2,340	0,000	1,338	0,000
-7,276	2,394	0,000	1,355	0,000
-7,366	2,448	0,000	1,351	0,000
-7,437	2,520	0,000	1,306	0,000
-7,516	2,556	0,000	1,352	0,000
-7,599	2,610	0,000	1,363	0,000
-7,670	2,682	0,000	1,213	0,000
-7,753	2,718	0,000	1,175	0,000
-7,843	2,772	0,000	1,196	0,000
-7,925	2,826	0,000	1,156	0,000
-8,013	2,880	0,000	1,143	0,000
-8,087	2,916	0,000	1,200	0,000
-8,185	2,952	0,000	1,223	0,000
-8,266	2,988	0,000	1,318	0,000
-8,348	3,042	0,000	1,345	0,000
-8,421	3,096	0,000	1,281	0,000
-8,500	3,132	0,000	1,349	0,000
-8,583	3,186	0,000	1,323	0,000
-8,653	3,204	0,000	1,377	0,000
-8,735	3,240	0,000	1,497	0,000
-8,816	3,240	0,000	1,695	0,000
-8,900	3,258	0,000	1,840	0,000
-8,988	3,330	0,000	1,793	0,000
-9,076	3,384	0,000	1,672	0,000
-9,159	3,420	0,000	1,784	0,000
-9,232	3,474	0,000	1,793	0,000
-9,316	3,528	0,000	1,790	0,000
-9,399	3,564	0,000	1,827	0,000
-9,483	3,600	0,000	1,879	0,000
-9,563	3,636	0,000	1,909	0,000
-9,636	3,672	0,000	1,990	0,000
-9,716	3,726	0,000	2,060	0,000
-9,799	3,780	0,000	1,969	0,000
-9,889	3,834	0,000	1,949	0,000
-9,965	3,888	0,000	1,926	0,000
-10,052	3,924	0,000	1,953	0,000
-10,132	3,960	0,000	2,029	0,000
-10,216	4,032	0,000	1,855	0,000
-10,299	4,068	0,000	1,811	0,000
-10,382	4,140	0,000	1,781	0,000
-10,465	4,194	0,000	1,755	0,000
-10,546	4,248	0,000	1,721	0,000
-10,621	4,284	0,000	1,700	0,000
-10,699	4,338	0,000	1,761	0,000
-10,780	4,392	0,000	1,758	0,000
-10,863	4,446	0,000	1,717	0,000
-10,942	4,500	0,000	1,610	0,000
-11,025	4,554	0,000	1,559	0,000
-11,115	4,608	0,000	1,591	0,000
-11,202	4,698	0,000	1,430	0,000
-11,282	4,752	0,000	1,305	0,000
-11,373	4,788	0,000	1,335	0,000
-11,449	4,842	0,000	1,446	0,000
-11,532	4,896	0,000	1,494	0,000
-11,617	4,968	0,000	1,458	0,000
-11,698	5,004	0,000	1,435	0,000
-11,784	5,076	0,000	1,388	0,000
-11,873	5,130	0,000	1,339	0,000
-11,965	5,184	0,000	1,279	0,000
-12,051	5,238	0,000	1,289	0,000
-12,132	5,310	0,000	1,316	0,000
-12,223	5,382	0,000	1,169	0,000
-12,317	5,436	0,000	1,128	0,000
-12,399	5,490	0,000	1,132	0,000
-12,482	5,562	0,000	1,055	0,000
-12,566	5,616	0,000	1,068	0,000
-12,649	5,652	0,000	1,053	0,000
-12,732	5,706	0,000	1,040	0,000
-12,816	5,760	0,000	1,068	0,000
-12,908	5,814	0,000	1,086	0,000
-12,998	5,868	0,000	1,103	0,000
-13,082	5,904	0,000	1,151	0,000
-13,175	5,940	0,000	1,358	0,000
-13,271	5,994	0,000	1,370	0,000
-13,359	6,048	0,000	1,381	0,000
-13,432	6,066	0,000	1,496	0,000
-13,516	6,120	0,000	1,589	0,000
-13,599	6,156	0,000	1,584	0,000
-13,681	6,210	0,000	1,609	0,000
-13,753	6,264	0,000	1,589	0,000
-13,854	6,300	0,000	1,570	0,000
-13,942	6,354	0,000	1,651	0,000
-14,036	6,408	0,000	1,669	0,000
-14,133	6,480	0,000	1,625	0,000
-14,224	6,534	0,000	1,654	0,000
-14,318	6,570	0,000	1,685	0,000
-14,399	6,642	0,000	1,710	0,000
-14,482	6,696	0,000	1,667	0,000
-14,565	6,732	0,000	1,643	0,000
-14,649	6,768	0,000	1,667	0,000
-14,732	6,840	0,000	1,622	0,000
-14,815	6,894	0,000	1,541	0,000
-14,906	6,948	0,000	1,554	0,000
-14,992	7,002	0,000	1,559	0,000
-15,075	7,056	0,000	1,540	0,000
-15,165	7,110	0,000	1,470	0,000
-15,259	7,164	0,000	1,488	0,000
-15,349	7,218	0,000	1,531	0,000
-15,430	7,254	0,000	1,576	0,000
-15,502	7,308	0,000	1,588	0,000
-15,583	7,380	0,000	1,523	0,000
-15,666	7,416	0,000	1,500	0,000
-15,748	7,452	0,000	1,524	0,000
-15,832	7,506	0,000	1,556	0,000
-15,925	7,560	0,000	1,550	0,000
-16,011	7,632	0,000	1,494	0,000
-16,101	7,686	0,000	1,439	0,000
-16,182	7,740	0,000	1,377	0,000
-16,281	7,794	0,000	1,403	0,000
-16,368	7,848	0,000	1,436	0,000
-16,448	7,884	0,000	1,455	0,000
-16,532	7,956	0,000	1,425	0,000
-16,615	8,028	0,000	1,306	0,000
-16,702	8,082	0,000	1,219	0,000
-16,782	8,136	0,000	1,154	0,000
-16,881	8,208	0,000	1,120	0,000
-16,973	8,280	0,000	1,065	0,000
-17,066	8,334	0,000	1,008	0,000
-17,159	8,388	0,000	1,036	0,000
-17,248	8,442	0,000	0,970	0,000
-17,332	8,496	0,000	1,029	0,000
-17,425	8,532	0,000	1,116	0,000
-17,504	8,568	0,000	1,175	0,000
-17,582	8,586	0,000	1,313	0,000
-17,670	8,622	0,000	1,413	0,000
-17,749	8,658	0,000	1,467	0,000
-17,841	8,712	0,000	1,534	0,000
-17,925	8,748	0,000	1,591	0,000
-18,015	8,784	0,000	1,657	0,000
-18,098	8,856	0,000	1,626	0,000
-18,183	8,910	0,000	1,566	0,000
-18,265	8,964	0,000	1,558	0,000
-18,348	9,000	0,000	1,563	0,000
-18,433	9,054	0,000	1,675	0,000
-18,505	9,090	0,000	1,677	0,000
-18,582	9,126	0,000	1,744	0,000
-18,665	9,162	0,000	1,869	0,000
-18,749	9,198	0,000	1,941	0,000
-18,832	9,234	0,000	2,033	0,000
-18,923	9,270	0,000	2,066	0,000
-19,007	9,324	0,000	2,116	0,000
-19,097	9,378	0,000	2,072	0,000
-19,180	9,432	0,000	2,062	0,000
-19,265	9,486	0,000	2,059	0,000
-19,356	9,540	0,000	1,977	0,000
-19,432	9,612	0,000	1,835	0,000
-19,515	9,666	0,000	1,771	0,000
-19,599	9,702	0,000	1,730	0,000
-19,682	9,756	0,000	1,740	0,000
-19,763	9,810	0,000	1,760	0,000
-19,846	9,864	0,000	1,712	0,000
-19,932	9,900	0,000	1,761	0,000
-20,019	9,954	0,000	1,850	0,000
-20,109	10,008	0,000	1,798	0,000
-20,192	10,044	0,000	1,828	0,000
-20,275	10,098	0,000	1,889	0,000
-20,358	10,170	0,000	1,813	0,000
-20,432	10,224	0,000	1,841	0,000
-20,515	10,260	0,000	1,897	0,000
-20,599	10,296	0,000	1,953	0,000
-20,683	10,368	0,000	1,810	0,000
-20,753	10,422	0,000	1,733	0,000
-20,847	10,458	0,000	1,720	0,000
-20,933	10,512	0,000	1,735	0,000
-21,017	10,566	0,000	1,727	0,000
-21,098	10,638	0,000	1,725	0,000
-21,182	10,692	0,000	1,595	0,000
-21,265	10,746	0,000	1,565	0,000
-21,358	10,800	0,000	1,506	0,000
-21,435	10,872	0,000	1,467	0,000
-21,513	10,926	0,000	1,444	0,000
-21,586	10,962	0,000	1,426	0,000
-21,665	11,016	0,000	1,426	0,000
-21,752	11,070	0,000	1,406	0,000
-21,836	11,124	0,000	1,368	0,000
-21,915	11,178	0,000	1,352	0,000
-21,998	11,214	0,000	1,372	0,000
-22,081	11,250	0,000	1,473	0,000
-22,165	11,304	0,000	1,524	0,000
-22,258	11,358	0,000	1,491	0,000
-22,347	11,412	0,000	1,554	0,000
-22,419	11,448	0,000	1,606	0,000
-22,498	11,484	0,000	1,650	0,000
-22,581	11,538	0,000	1,675	0,000
-22,665	11,574	0,000	1,732	0,000
-22,750	11,628	0,000	1,752	0,000
-22,832	11,646	0,000	1,864	0,000
-22,914	11,700	0,000	1,963	0,000
-22,986	11,736	0,000	1,935	0,000
-23,080	11,790	0,000	1,890	0,000
-23,163	11,826	0,000	2,013	0,000
-23,245	11,862	0,000	2,041	0,000
-23,334	11,898	0,000	2,111	0,000
-23,415	11,916	0,000	2,247	0,000
-23,487	11,952	0,000	2,324	0,000
-23,575	12,006	0,000	2,281	0,000
-23,648	12,042	0,000	2,239	0,000
-23,732	12,096	0,000	2,311	0,000
-23,812	12,132	0,000	2,338	0,000
-23,891	12,168	0,000	2,341	0,000
-23,969	12,222	0,000	2,407	0,000
-24,059	12,258	0,000	2,398	0,000
-24,142	12,294	0,000	2,431	0,000
-24,220	12,330	0,000	2,424	0,000
-24,314	12,384	0,000	2,441	0,000
-24,400	12,438	0,000	2,438	0,000
-24,479	12,492	0,000	2,428	0,000
-24,548	12,528	0,000	2,455	0,000
-24,631	12,582	0,000	2,462	0,000
-24,715	12,636	0,000	2,430	0,000
-24,798	12,690	0,000	2,331	0,000
-24,880	12,744	0,000	2,326	0,000
-24,963	12,798	0,000	2,329	0,000
-25,047	12,852	0,000	2,253	0,000
-25,131	12,906	0,000	2,215	0,000
-25,214	12,942	0,000	2,282	0,000
-25,297	12,996	0,000	2,297	0,000
-25,381	13,050	0,000	2,271	0,000
-25,463	13,104	0,000	2,237	0,000
-25,535	13,158	0,000	2,144	0,000
-25,622	13,194	0,000	2,142	0,000
-25,698	13,248	0,000	2,176	0,000
-25,781	13,320	0,000	2,241	0,000
-25,865	13,374	0,000	2,129	0,000
-25,948	13,428	0,000	2,066	0,000
-26,031	13,482	0,000	1,996	0,000
-26,115	13,536	0,000	1,999	0,000
-26,198	13,590	0,000	1,931	0,000
-26,281	13,626	0,000	1,881	0,000
-26,364	13,698	0,000	1,829	0,000
-26,448	13,788	0,000	1,762	0,000
-26,531	13,860	0,000	1,603	0,000
-26,615	13,896	0,000	1,624	0,000
-26,698	13,932	0,000	1,704	0,000
-26,769	13,986	0,000	1,731	0,000
-26,858	14,022	0,000	1,751	0,000
-26,941	14,058	0,000	1,860	0,000
-27,024	14,112	0,000	1,924	0,000
-27,113	14,148	0,000	1,882	0,000
-27,197	14,202	0,000	1,965	0,000
-27,283	14,256	0,000	1,969	0,000
-27,364	14,292	0,000	2,006	0,000
-27,447	14,328	0,000	2,158	0,000
-27,524	14,382	0,000	2,143	0,000
-27,598	14,418	0,000	2,201	0,000
-27,681	14,472	0,000	2,114	0,000
-27,765	14,526	0,000	2,110	0,000
-27,848	14,562	0,000	2,148	0,000
-27,931	14,616	0,000	2,232	0,000
-28,024	14,688	0,000	2,216	0,000
-28,113	14,724	0,000	2,172	0,000
-28,198	14,778	0,000	2,175	0,000
-28,281	14,832	0,000	2,180	0,000
-28,365	14,886	0,000	2,173	0,000
-28,448	14,940	0,000	2,157	0,000
-28,534	14,994	0,000	2,225	0,000
-28,615	15,030	0,000	2,219	0,000
-28,701	15,084	0,000	2,165	0,000
-28,781	15,156	0,000	2,139	0,000
-28,871	15,210	0,000	2,147	0,000
-28,966	15,264	0,000	2,154	0,000
-29,048	15,336	0,000	2,052	0,000
-29,141	15,390	0,000	1,974	0,000
-29,231	15,444	0,000	1,956	0,000
-29,317	15,498	0,000	1,945	0,000
-29,398	15,552	0,000	1,949	0,000
-29,481	15,606	0,000	1,976	0,000
-29,567	15,624	0,000	2,099	0,000
-29,651	15,696	0,000	2,092	0,000
-29,729	15,732	0,000	1,993	0,000
-29,813	15,786	0,000	1,981	0,000
-29,903	15,840	0,000	1,974	0,000
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+140,576	81,360	15,000	15,056	15,956
+140,673	81,450	15,000	14,842	15,956
+140,777	81,540	15,000	15,002	16,394
+140,933	81,612	15,000	14,948	16,063
+141,041	81,702	15,000	14,760	16,063
+141,129	81,774	15,000	14,734	16,444
+141,226	81,846	15,000	15,030	16,444
+141,316	81,864	15,000	15,164	16,210
+141,410	81,900	15,000	15,056	16,210
+141,511	81,972	15,000	15,299	16,203
+141,586	82,008	15,000	15,191	16,203
+141,702	82,080	15,000	15,002	16,095
+141,890	82,224	15,000	15,110	16,292
+142,050	82,278	15,000	15,164	15,924
+142,156	82,368	15,000	14,680	15,924
+142,262	82,476	15,000	14,599	16,502
+142,427	82,566	15,000	15,056	16,279
+142,611	82,674	15,000	14,922	16,317
+142,787	82,800	15,000	15,030	16,394
+142,970	82,872	15,000	15,191	16,044
+143,064	82,944	15,000	15,245	16,044
+143,151	82,980	15,000	14,922	16,057
+143,249	83,088	15,000	15,110	16,057
+143,344	83,124	15,000	15,030	16,152
+143,434	83,196	15,000	15,137	16,152
+143,533	83,232	15,000	15,353	16,114
+143,625	83,268	15,000	15,217	16,114
+143,716	83,340	15,000	15,325	16,044
+143,806	83,376	15,000	15,245	16,044
+143,897	83,448	15,000	15,191	16,013
+143,997	83,520	15,000	15,299	16,013
+144,092	83,556	15,000	15,271	15,956
+144,189	83,610	15,000	15,513	15,956
+144,276	83,646	15,000	15,353	15,771
+144,372	83,736	15,000	14,976	15,771
+144,461	83,826	15,000	14,760	16,190
+144,559	83,898	15,000	15,056	16,190
+144,651	83,916	15,000	15,164	16,095
+144,743	83,970	15,000	15,002	16,095
+144,840	84,042	15,000	15,030	16,140
+144,929	84,096	15,000	14,760	16,140
+145,030	84,186	15,000	14,868	16,337
+145,119	84,240	15,000	14,895	16,337
+145,209	84,294	15,000	15,245	16,222
+145,300	84,312	15,000	15,217	16,222
+145,399	84,384	15,000	14,895	15,975
+145,493	84,474	15,000	14,572	15,975
+145,587	84,564	15,000	14,653	16,508
+145,675	84,618	15,000	14,895	16,508
+145,766	84,636	15,000	15,002	16,229
+145,863	84,690	15,000	15,030	16,229
+145,960	84,744	15,000	14,760	16,146
+146,053	84,834	15,000	14,814	16,146
+146,152	84,888	15,000	14,922	16,330
+146,233	84,924	15,000	15,002	16,330
+146,330	84,960	15,000	15,325	16,171
+146,426	84,996	15,000	15,594	16,171
+146,515	85,014	15,000	15,056	15,702
+146,610	85,140	15,000	14,331	15,702
diff --git a/conf.txt b/conf.txt
index 646b4a5..a847b74 100644
--- a/conf.txt
+++ b/conf.txt
@@ -1,7 +1,7 @@
 227C-024-15{
     Kp:0.11
     Ki:0.09
-    Kd:0.00
+    Kd:0.001
 }
 328CS-024-10{
     Kp:0.3