PSO-Based PID Controller Design for a Class of Stable and Unstable Systems

Table 2

Quantitative analysis for Example 1.

𝑊	Best values	𝑀𝑝	𝑡𝑟 (s)	𝑡𝑠 (s)	ISE	IAE
0.5	1	0	5.5	5.5	9.395	3.065
	2	0	6.5	6.5	9.72	3.118
	3	0.004	3.9	8.5	8.245	2.871
0.75	1	0.0055	4.3	6.6	9.191	3.030
	2	0	8.1	8.1	8.582	2.929
	3	0.0185	4.0	9.8	9.726	3.119
1	1	0.13	2.6	9.5	5.682	2.384
	2	0.112	2.6	10	4.828	2.197
	3	0	6.5	6.5	6.606	2.570