Table 2: Performance comparison for Process 1.

MethodOver ShootSettling Time, s I S E S I A E S I S E L I A E L

HC1.780334.9513.4711.7013.9313.83
SC1.323341.5510.1111.8710.4214.02
Visioli1.303162.858.32410.978.62113.03
PSO PID1.263241.8311.2513.7611.6216.30
PIDr11.181559.8012.3417.4512.7720.73
PIDr21.322936.2611.0412.6111.3914.91