Application of Combinatorial Interaction Design for DC Servomotor PID Controller Tuning

Table 2

Simulation results summary.

		𝐾𝑝	𝐾𝑖	𝐾𝑑	𝑡𝑟	𝑡𝑠	𝑡𝑝	𝑀𝑝	𝐽
	Global optimal	50	0.18	24.5	0.4755	0.8784	0.6437	4.55%	0.0094
Combinatorial constructed sets	1	50	0.10	24.5	0.4756	0.8766	0.6438	4.53%	0.0137
	2	50	0.21	24.5	0.4755	0.8791	0.6437	4.56%	0.0102
	3	50	0.15	24.5	0.4756	0.8777	0.6438	4.55%	0.0105
	4	50	0.02	24.5	0.4758	0.8747	0.6438	4.52%	0.0187
	5	50	0.25	24.5	0.4754	0.8801	0.6437	4.56%	0.0131
	6	50	0.31	24.5	0.4753	0.8815	0.6437	4.58%	0.0173
	7	50	0.08	24.5	0.4757	0.8761	0.6438	4.53%	0.0150
	8	50	0.35	24.5	0.4753	0.8824	0.6436	4.58%	0.0201
	9	50	0.05	24.5	0.4757	0.8754	0.6438	4.53%	0.0168
	10	50	0.02	24.5	0.4758	0.8747	0.6438	4.52%	0.0187
	11	50	0.22	24.5	0.4755	0.8794	0.6437	4.56%	0.0109
	12	50	0.18	24.5	0.4755	0.8784	0.6437	4.55%	0.0094
	13	50	0.23	24.5	0.4754	0.8796	0.6437	4.56%	0.0116
	14	50	0.30	24.5	0.4753	0.8812	0.6437	4.57%	0.0166
	15	50	0.32	24.5	0.4753	0.8817	0.6436	4.58%	0.0180