Controller Parameter Optimization for Nonlinear Systems Using Enhanced Bacteria Foraging Algorithm

Table 2

Controller values and the performance comparison for bioreactor model.

Method	Iteration	𝐾𝑝	𝐾𝑖	𝐾𝑑	IAE	ISE	𝑀𝑝	𝑡𝑟	𝑡𝑠
GA	63	−0.9104	−0.0655	−0.0428	2.603	6.776	0.838	1.84	51.9
PSO	71	−0.4066	−0.0501	−0.1197	3.404	11.58	0.808	3.16	43.1
BFO	85	−0.5374	−0.0702	−0.0537	2.429	5.900	0.751	2.57	27.0
ABFO	66	−0.6113	−0.0714	−0.0518	2.388	5.704	0.720	2.40	28.3
EBFO	57	−0.6289	−0.0672	−0.0386	2.537	6.439	0.718	2.39	27.6