Journal of Sensors / 2015 / Article / Tab 4

Research Article

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.

0.1–11.1–2
CriterionISEISTEIST2EISEISTEIST2E

1.0481.0420.9681.1541.1421.061
−0.897−0.897−0.904−0.567−0.579−0.583
1.1950.9870.9771.0470.9190.892
−0.368−0.238−0.253−0.220−0.172−0.165
0.4890.3850.3160.4900.3840.315
0.8880.9060.8920.7080.8390.832