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

<table>Servo response for Example <a href="https://static.hindawi.com/articles/acisc/volume-2012/329389/figures/#ex2">2</a> with I-PD controller.</table>

Applied Computational Intelligence and Soft Computing

fig12

Figure 12

Figure 12: I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion 