id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ap-246	Alfaro-Cid, E.; McGookin, E. W.; Murray-Smith, D. J.	Genetic Algorithm Optimisation of a Ship Navigation System	2001	7	.pdf	application/pdf	4727	193	53	They have three basic modes of operation: propor- tional action, in which the actuation signal is proportional to the error signal, integral action, when the actuation signal is proportional to the time integral of the error signal, and derivative action, where the actuation signal is proportional to the time derivative of the error signal, and their transfer function is given by: � � � � � �D s K K s K s E sI D � � . � � � �1 0001 10 2 2c d	cache/ap-246.pdf	txt/ap-246.txt