Table 6: Reference tracking performance.

MethodReference tracking
ISEIAEITAEITSE

ISE I-PD11.7015.42147.9162.823.20.013467.80
IAE I-PD9.89913.48118.1137.519.00.018962.50
ITAE I-PD8.59111.5895.06124.915.90.012168.80
ITSE I-PD7.84110.8587.12115.214.00.018475.50