Design and Implementation of Energy Efficiency in HVAC Systems Based on Robust PID Control for Industrial Applications

Table 4

Zhuang-Atherton method optimum tuning formulas.

	0.1–1			1.1–2
Criterion	ISE	ISTE	IST^2E	ISE	ISTE	IST^2E
	1.048	1.042	0.968	1.154	1.142	1.061
	−0.897	−0.897	−0.904	−0.567	−0.579	−0.583
	1.195	0.987	0.977	1.047	0.919	0.892
	−0.368	−0.238	−0.253	−0.220	−0.172	−0.165
	0.489	0.385	0.316	0.490	0.384	0.315
	0.888	0.906	0.892	0.708	0.839	0.832