Controller Parameter Optimization for Nonlinear Systems Using Enhanced Bacteria Foraging Algorithm

Table 4

Controller values and the performance comparison for process model 3.

Method	Iteration	𝐾𝑝	𝐾𝑖	𝐾𝑑	IAE	ISE	𝑀𝑝	𝑡𝑟	𝑡𝑠
GA	331	0.1970	0.0009	0.5109	41.32	1707	0.991	36.5	647.2
PSO	295	0.1270	0.0012	0.5338	31.08	965.9	0.869	43.7	406.1
BFO	324	0.1790	0.0019	0.3941	19.6	385.3	1.190	37.2	370.4
ABFO	360	0.1135	0.0014	0.5211	26.64	709.7	0.976	37.3	371.3
EBFO	319	0.2108	0.0025	0.8100	14.92	222.5	1.243	34.9	335.9