Table 5: Performance measures under various cost functions.

Error measuresSampling instants
25 : 150151 : 275276 : 350
Overshoot (%)Settling time (samples)Overshoot (%)Settling time (samples)Overshoot (%)Settling time (samples)

ISE36.2232020020
IAE1.03559.8195.119
ITAE13.5502.319118
Combined1.5323018018