Table 2: Performance comparison for Process 1.

Method Over Shoot Settling Time, s HC 1.7803 34.95 13.47 11.70 13.93 13.83 SC 1.3233 41.55 10.11 11.87 10.42 14.02 Visioli 1.3031 62.85 8.324 10.97 8.621 13.03 PSO PID 1.2632 41.83 11.25 13.76 11.62 16.30 PIDr1 1.1815 59.80 12.34 17.45 12.77 20.73 PIDr2 1.3229 36.26 11.04 12.61 11.39 14.91