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

Table 1

Optimised controller values.

Method	Iteration number	𝐾𝑝	𝐾𝑖	𝐾𝑑
ISE I-PD	35	1.7726	0.2809	0.1339
IAE I-PD	41	2.2530	0.4752	0.4628
ITAE I-PD	57	1.8399	0.3722	0.3194
ITSE I-PD	62	1.8874	0.5199	0.3836