Model Based Adaptive Piecewise Linear Controller for Complicated Control Systems

Table 3

The ISE and IAE of five methods for Example 2.

	Proposed	ZN(PI)	ZN(PID)	Ho’s(PID)	Majhi’s(PI)
ISE	2.836	5.335	4.023	5.215	3.740
IAE	3.586	9.279	6.492	7.219	5.425