Research Article
I-PD Controller Tuning for Unstable System Using Bacterial Foraging Algorithm: A Study Based on Various Error Criterion
Table 8
Performance index for the CSTR model.
| | Method | Reference tracking | | ISE | IAE | ITAE | ITSE | | | | |
| | ISE I-PD | 137.8 | 279.3 | 82112.9 | 67391.4 | 59.4 | 0.1409 | 287 | 0 | | IAE I-PD | 135.3 | 275.2 | 81416.4 | 66942.7 | 53.7 | 0.0681 | 396 | 0 | | ITAE I-PD | 113.3 | 253.0 | 80461.3 | 59448.0 | 94.7 | 0.0431 | 380 | 0 | | ITSE I-PD | 106.9 | 244.2 | 79848.5 | 57489.3 | 111.3 | 0.0407 | 320 | 0 |
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