I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion

Table 7

Optimised parameters for CSTR model.

Method	Iteration number	𝐾𝑝	𝐾𝑖	𝐾𝑑
ISE I-PD	439	1.913	0.0412	0.1094
IAE I-PD	493	2.4571	0.0509	0.2109
ITAE I-PD	526	1.8662	0.0258	0.2168
ITSE I-PD	558	1.6984	0.0195	0.1107