Research Article
I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion
Table 1
Optimised controller values.
| Method | Iteration number | | | |
| ISE I-PD | 35 | 1.7726 | 0.2809 | 0.1339 | IAE I-PD | 41 | 2.2530 | 0.4752 | 0.4628 | ITAE I-PD | 57 | 1.8399 | 0.3722 | 0.3194 | ITSE I-PD | 62 | 1.8874 | 0.5199 | 0.3836 |
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