Model Predictive Control of Duplex Inlet and Outlet Ball Mill System Based on Parameter Adaptive Particle Swarm Optimization

Table 4

Comparisons of dynamic and static performances of three control methods.

Performance parameter	PID	PAPSO-MPC	HPAPSO-MPC
Overshoot %	20.9	10.2	4
Adjustment time/s	85	50	30
Rise time/s	45	20	10
Pure delay time/s	5	5	0
Mean relative error	0.0620	0.0306	0.0156
Mean square error	0.1139	0.0573	0.0390
Steady-state error/%	1.8	1.2	0.5
Per iteration optimization time/s	-	0.849	1.36