Table 8: Robustness analysis under ±10% in the gain and delay: the non-minimum phase 4-tank process case study.

Tuning method4-tank process (+10%)4-tank process (−10%)
Set-point Disturbance Set-point Disturbance
IAETVIAETVIAETVIAETV

Proposed418.26120.5199.4315.84510.0698.6694.8513.21
PI3678.1037.14106.9611.994383.8041.88102.3111.58
PID [14].3768.90333.93106.247.044482.50339.06101.655.76