Research Article
I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion
Table 6
Reference tracking performance.
| | Method | Reference tracking | | ISE | IAE | ITAE | ITSE | | | | |
| | ISE I-PD | 11.70 | 15.42 | 147.9 | 162.8 | 23.2 | 0.0134 | 67.8 | 0 | | IAE I-PD | 9.899 | 13.48 | 118.1 | 137.5 | 19.0 | 0.0189 | 62.5 | 0 | | ITAE I-PD | 8.591 | 11.58 | 95.06 | 124.9 | 15.9 | 0.0121 | 68.8 | 0 | | ITSE I-PD | 7.841 | 10.85 | 87.12 | 115.2 | 14.0 | 0.0184 | 75.5 | 0 |
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