I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion

<table>Load disturbance rejection for Example <a href="https://static.hindawi.com/articles/acisc/volume-2012/329389/figures/#ex1">1</a> with I-PD controller.</table>

Applied Computational Intelligence and Soft Computing

fig11

Figure 11

Figure 11: I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion 