PSO-Based PID Controller Design for a Class of Stable and Unstable Systems

Table 4

Performance measure for Example 2.

Sl. Number	Method	%  𝑀𝑝	𝑡𝑟 (s)	𝑡𝑠 (s)	ISE
1	ZN	31.59%	0.664	4.78	0.854
2	GA	5.84%	0.676	3.63	0.797
3	ACO	4.95%	0.701	5.90	0.809
4	MACO	2.84%	0.700	3.00	0.772
5	PSO (0.75)	0.00%	2.713	9.836	4.108