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

Table 3

Optimised 𝐾_𝑝, 𝐾_𝑖, and 𝐾_𝑑 values for Example 2.

Method	Iteration number	𝐾𝑝	𝐾𝑖	𝐾𝑑
ISE I-PD	174	1.3394	0.0479	0.6195
IAE I-PD	189	1.9037	0.1173	0.9032
ITAE I-PD	238	1.5518	0.0968	0.8471
ITSE I-PD	251	1.5892	0.1204	0.8949