Table 1: Optimized PID parameters for Example 1.

Best valuesIteration number

0.51580.67490.65250.0228
2350.68000.64150.0170
3410.69040.69650.0332

0.751450.69760.65970.1136
2430.85790.68270.0781
3520.57790.64130.0812

11440.48850.8390.1013
2390.67810.91020.2954
3631.01190.77810.1377