Table 2: Performance comparisons for Example 1 with I-PD controller.

MethodReference trackingDisturbance rejection

ISEIAEITAEITSE ISEIAEITAEITSE

ISE I-PD1.9592.7504.9893.5824.5008.2002.0513.23420.3619.62
IAE I-PD1.8132.6374.6873.2254.6008.2501.8723.93846.7937.85
ITAE I-PD1.7932.4413.8892.9233.650.03239.5501.9263.15119.4417.03
ITSE I-PD1.5652.2303.6752.6812.850.10398.2501.7002.93517.9215.92