Tuning and Retuning of PID Controller for Unstable Systems Using Evolutionary Algorithm

Table 3

Cost function for Process 2.

Method	Over Shoot	Settling Time, s	ISES	IAES	ISEL	IAEL
PSO PID	1.201	360.7	77.64	99.89	80.72	119.7
PIDr1	0.985	239.6	59.45	78.77	61.79	94.36