Intelligent Tuning of PID Using Metaheuristic Optimization for Temperature and Relative Humidity Control of Comfortable Rooms

Table 2

Parameter gain of PID controller using various design methods.

Case	Design methods/search parameter methods					Rise time (sec)	Overshoot (%)
1	Z-N	Temperature	1.500	0.0160	0.001	190	10.4
2	Pole placement		2.500	0.0190	0.001	170	6.0
3	ACO		2.650	0.0220	0.001	148	8.0 (0.2, 13.8)
4	SOS		2.587	0.0221	0.001	148.2	6.8 (3.8, 19.9)
5	Z-N	RH	1.380	0.0030	0.001	—	—
6	Pole placement		1.740	0.0240	0.001	105	12.8
7	ACO		1.800	0.0280	0.001	92	14.1 (16.4, 4.5)
8	SOS		1.858	0.0276	0.001	92	13.0 (3.7, 22.0)