Research Article
I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion
Table 4
Performance evaluation for Example
2.
| | Method | Reference tracking | | ISE | IAE | ITAE | ITSE | | | | |
| | ISE I-PD | 5.775 | 7.485 | 33.73 | 24.71 | 11.1 | 0.0343 | 27.9 | 0 | | IAE I-PD | 4.852 | 7.706 | 47.50 | 39.42 | 13.7 | 0.0003 | 40.2 | 0 | | ITAE I-PD | 4.541 | 5.702 | 18.62 | 17.55 | 8.59 | 0.0002 | 19.1 | 0 | | ITSE I-PD | 4.184 | 5.239 | 10.00 | 9.681 | 7.33 | 0.0009 | 18.5 | 0 |
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