Table 1: Parameter set.

Initial PIDError factorsHormone regulation factors

𝐾 𝑝 0 𝑖 = 0 . 0 3 𝑒 𝑖 m a x = 1  r/s 𝑘 𝑝 𝑖 = 5 , 𝛽 𝑝 𝑖 = 1 . 2 , 𝜂 𝑝 𝑖 = 2 0 %
𝐾 𝑖 0 𝑖 = 0 . 0 0 4 𝑒 𝑖 m i n = 1  r/s 𝑘 𝑖 𝑖 = 5 , 𝛽 𝑖 𝑖 = 1 . 2 , 𝜂 𝑖 𝑖 = 1 5 %
𝐾 𝑑 0 𝑖 = 0 . 0 0 5 𝑘 𝑑 𝑖 = 3 , 𝛽 𝑑 𝑖 = 1 , 𝜂 𝑑 𝑖 = 1 0 %