Controller Parameter Optimization for Nonlinear Systems Using Enhanced Bacteria Foraging Algorithm

Table 1

PID controller values of EBFO algorithm and the performance index values for bioreactor model (five trials).

Trial	Iteration	𝐾𝑝	𝐾𝑖	𝐾𝑑	IAE	ISE	𝑀𝑝	𝑡𝑟	𝑡𝑠
1	51	−0.9330	−0.0171	−0.0628	8.828	77.93	0.721	1.97	62.5
2	57	−0.6289	−0.0672	−0.0386	2.537	6.439	0.718	2.39	27.6
3	67	−0.4418	−0.0503	−0.0714	3.390	11.49	0.775	2.95	30.3
4	72	−0.5928	−0.0730	−0.0288	2.336	5.456	0.759	2.48	18.1
5	59	−0.7117	−0.0391	−0.0433	4.359	19.00	0.638	2.3	38.2