U-Model-Based Active Disturbance Rejection Control for the Dissolved Oxygen in a Wastewater Treatment Process

Table 3

Indexes under dry weather.

	PI	SMC	ADRC	UADRC	Improvements (UADRC vs PI)	Improvements (UADRC vs SMC)	Improvements (UADRC vs. ADRC)
ISE	0.113	0.090	0.032	0.027	−76.1%	−70.0%	−15.6%
ITAE	2.085	5.134	0.903	0.333	−84.0%	−93.5%	−63.1%
OCI	17343.19	17348.32	17343.40	17343.37	+1.0 × 10^−3%	−2.9 × 10^−2%	−1.7 × 10^−4%