Performance Comparison of Particle Swarm Optimization and Gravitational Search Algorithm to the Designed of Controller for Nonlinear System

Table 1

Parameter of EHA system.

Load at the EHS rod, 𝑚	0.33 Ns^2/cm
Piston area, 𝑆	10 cm^2
Coefficient of viscous friction, 𝑓	27.5 Ns/cm
Coefficient of aerodynamic elastic force, 𝑘	1000 N/cm
Valve port width, 𝑤	0.05 cm
Supply pressure, 𝑃𝑎	2100 N/cm^2
Coefficient of volumetric flow of the valve port, 𝑐𝑑	0.63
Coefficient of internal leakage between the cylinder chambers, 𝑘𝑙	2.38×10^−3 cm^5/Ns
Coefficient of servo valve, 𝑘𝑣	0.017 cm/V
Coefficient involving bulk modulus and EHA volume, 𝑘𝑐	2.5×10^−4 cm^5/N
Oil density, 𝜌	8.87×10^−7 Ns^2/cm^4