Applied Computational Intelligence and Soft Computing / 2012 / Article / Fig 7

Research Article

I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion

Figure 7

Final convergence of controller parameters with (a) ISE-, (b) IAE-, (c) ITAE-, and (d) ITSE-guided BFO algorithm.

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