Speed Control for a Marine Diesel Engine Based on the Combined Linear-Nonlinear Active Disturbance Rejection Control

Table 1

The criteria of IAE and TV for different controllers after different mutation load processes.

	After unloading 100 full load				After unloading 60 full load				After unloading 20 full load
	LADRC	NLADRC	SADRC	PID	LADRC	NLADRC	SADRC	PID	LADRC	NLADRC	SADRC	PID
IAE	0.193	0.148	0.136	0.241	0.241	0. 330	0.222	0.392	0.350	0.546	0.314	0.808
TV	65.3	59.5	58.8	12.1	96.7	88.2	90.9	21.7	141.5	140.6	138.2	31.1