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	𝐾𝑝	𝐾𝑖	𝐾𝑑
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