Research Article
I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion
Table 2
Performance comparisons for Example
1 with I-PD controller.
| | Method | Reference tracking | Disturbance rejection |
| | ISE | IAE | ITAE | ITSE | | | | | ISE | IAE | ITAE | ITSE |
| | ISE I-PD | 1.959 | 2.750 | 4.989 | 3.582 | 4.50 | 0 | 8.20 | 0 | 2.051 | 3.234 | 20.36 | 19.62 | | IAE I-PD | 1.813 | 2.637 | 4.687 | 3.225 | 4.60 | 0 | 8.25 | 0 | 1.872 | 3.938 | 46.79 | 37.85 | | ITAE I-PD | 1.793 | 2.441 | 3.889 | 2.923 | 3.65 | 0.0323 | 9.55 | 0 | 1.926 | 3.151 | 19.44 | 17.03 | | ITSE I-PD | 1.565 | 2.230 | 3.675 | 2.681 | 2.85 | 0.1039 | 8.25 | 0 | 1.700 | 2.935 | 17.92 | 15.92 |
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