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

Table 4

Indexes under rain weather.

	PI	SMC	ADRC	UADRC	Improvements (UADRC vs PI)	Improvements (UADRC vs SMC)	Improvements (UADRC vs ADRC)
ISE	0.109	0.080	0.031	0.027	−75.2%	−66.3%	−12.9%
ITAE	1.654	4.307	0.717	0.268	−83.8%	−93.8%	−62.6%
OCI	17128.68	17135.86	17128.87	17128.83	+8.8 × 10^−4%	−4.1 × 10^−2%	−2.3 × 10^−4%