Research Article
I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion
Table 5
Optimised controller parameters.
| Method | Iteration number | | | |
| ISE I-PD | 153 | 1.5309 | 0.0349 | 1.1747 | IAE I-PD | 169 | 1.7045 | 0.0596 | 2.1298 | ITAE I-PD | 378 | 1.8996 | 0.0807 | 1.5813 | ITSE I-PD | 391 | 2.0109 | 0.1052 | 1.8934 |
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