Table 1: Classical and optimally tuned PID parameters for Process 1.

Method HC 0.565 0.046025 0.34352 SC 0.548 0.049294 0.56115 Visioli 0.624 0.054021 0.72446 PSO PID 0.5338 0.0307 0.4931 PIDr1 0.5338 0.0211 0.4931 PIDr2 0.5338 0.0379 0.4931