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

Table 7

Performance measure values for Example 4.

𝑊	Best values	𝑀𝑝	𝑡𝑟 (s)	𝑡𝑠 (s)	ISE	IAE
0.5	1	0.434	2.3	29.6	4.497	2.121
	2	0415	2.25	27.5	3.446	1.856
	3	0.454	2.3	25	2.447	1.564
0.75	1	0.409	1.7	26.5	0.75	0.886
	2	0.435	1.5	27	1.09	1.044
	3	0.423	1.5	22.5	0.557	0.746
1	1	0.39	2.56	38.1	1.419	1.19
	2	0.44	2.7	35	1.178	1.05
	3	0.32	2.5	26	1.04	1.020