A Comparative Analysis of PID, Lead, Lag, Lead-Lag, and Cascaded Lead Controllers for a Drug Infusion System

Table 3

PI parameters.

PI parameters	KP	KI
1	3,000,000	55
2	6,000,000	55
3	750,000	55
4	4,500,000	5.5
5	4,500,000	55
6	4,500,000	550
7	4,500,000	5500
8	4,500,000	55,000
9	4,500,000	550,000