Optimized PID Position Control of a Nonlinear System Based on Correlating the Velocity with Position Error

Table 5

Comparison of optimization results with first objective function OF1 and second objective function OF2 with same value of adjustment factor .

	OF1 result	OF2 result	Maximum overshoot	Settling time
Optimized PID controller with OF1	65.0428	51.4929	4.5%	4.6 s
Optimized PID controller with OF2 and = 1.106	72.7379	46.6159	0%	7.0 s
Optimized PD cascaded controller	/	/	6.04%	4.8 s