Applied Computational Intelligence and Soft Computing / 2012 / Article / Tab 4

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.

MethodReference tracking
ISEIAEITAEITSE

ISE I-PD5.7757.48533.7324.7111.10.034327.90
IAE I-PD4.8527.70647.5039.4213.70.000340.20
ITAE I-PD4.5415.70218.6217.558.590.000219.10
ITSE I-PD4.1845.23910.009.6817.330.000918.50

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