Modeling, Analysis, and Intelligent Controller Tuning for a Bioreactor: A Simulation Study

Table 4

Performance evaluation for unstable region.

Algorithm	PID parameters			Iteration number	Reference tracking
	𝐾𝑝	𝐾𝑖	𝐾𝑑		ISE	IAE
MOPSO	−0.5499	−0.0638	−0.2018	58	7.143	2.673
BFO	−0.5374	−0.0702	−0.0537	85	5.903	2.429
PSO	−0.491	−0.0501	−0.1201	52	11.54	3.397