Singularly Perturbation Method Applied To Multivariable PID Controller Design

Table 3

Optimum PID parameter for evaporator system based on PSO.

Method	Original system				Singularly perturbed system
				Time (s)				Time (s)
Davison	—	0.0300	—	746.1308	—	0.0300	—	134.7652
Penttinen-Koivo	—	0.0500	0.0726	147.8473	—	0.0500	2.2488	22.0722
Combined	0.0223	0.1000	1.8896	568.1792	0.0363	0.7703	0.7609	167.2869