Singularly Perturbation Method Applied To Multivariable PID Controller Design

Table 1

Optimum PID parameter for WWTP based on PSO.

Method	Original system				Singularly perturbed system
				Time (s)				Time (s)
Davison	—	0.9723		1173.7	—	0.7949		355.5019
Penttinen-Koivo	—	1.7730	0.5741	49.7979	—	1.2010	0.7925	10.4767
Maciejowski	—	9.8842	5.3998	247.4416	—	1.6729	9.4042	69.9072
Combined	0.8843	7.8907	9.5949	370.6488	0.7927	9.4458	7.5924	132.5115