Controller Parameter Optimization for Nonlinear Systems Using Enhanced Bacteria Foraging Algorithm

Table 3

Controller values and the performance comparison for isothermal CSTR.

Method	Iteration	𝐾𝑝	𝐾𝑖	𝐾𝑑	IAE	ISE	𝑀𝑝	𝑡𝑟	𝑡𝑠
GA	138	1.1507	0.0074	4.9331	40.51	1641	0.741	42.2	423.7
PSO	144	1.2804	0.0207	8.0426	14.56	212.1	1.015	38.6	305.1
BFO	169	1.4538	0.0111	5.9842	27.01	729.5	0.905	37.7	351.4
ABFO	216	1.2660	0.0205	8.5283	14.68	215.5	1.034	38.9	284.8
EBFO	151	1.3882	0.0155	9.0343	19.42	377.0	0.843	37.2	177.3