Applied Computational Intelligence and Soft Computing / 2012 / Article / Tab 6

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.

MethodReference tracking

ISE I-PD11.7015.42147.9162.823.20.013467.80
IAE I-PD9.89913.48118.1137.519.00.018962.50
ITAE I-PD8.59111.5895.06124.915.90.012168.80
ITSE I-PD7.84110.8587.12115.214.00.018475.50

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