Fuzzy Controller Design Using Evolutionary Techniques for Twin Rotor MIMO System: A Comparative Study

Table 6

Optimal gains after 200 iterations with their objective function.

	KVe	KVde	KHVe	KHVde	KVHe	KVHde	KHe	KHde	KHV	KVH	Obj
GSA	40	26.544	40	29.2786	1.7778	20.8239	7.3525	2.2567	−1.0862	−0.6442	3.0380
PSO	39.95	21.117	39.8855	17.201	1.3643	22.7434	7.3525	13.9838	−1.1284	−1.0432	3.9698
ABC	35.5195	19.1465	25.3081	3.0515	4.3111	24.4751	19.5009	16.1338	−1.2142	−1.0412	7.5166
DE	40	26.4236	40	32.5652	1.2728	20.0212	4.3722	3.5919	−1.0381	−0.8021	3.2915