Research Article
Fuzzy Dynamic Parameter Adaptation in the Harmony Search Algorithm for the Optimization of the Ball and Beam Controller
Table 6
Simulation results without perturbation in the controller.
| | Performance Index | Methods | | HS original | FHS | IT2FHS | GT2FHS |
| | RMSE | 1.53E+00 | 1.57E+00 | 1.56E+00 | 1.52E+00 | | ITAE | 8.87E+05 | 1.01E+06 | 1.01E+06 | 8.39E+05 | | ITSE | 2.02E+06 | 2.62E+06 | 2.62E+06 | 1.67E+06 | | IAE | 1.78E+03 | 2.02E+03 | 2.02E+03 | 1.68E+03 | | ISE | 4.06E+03 | 5.25E+03 | 5.25E+03 | 3.34E+03 |
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