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

Table 5

Indexes under storm weather.

	PI	SMC	ADRC	UADRC	Improvements (UADRC vs PI)	Improvements (UADRC vs SMC)	Improvements (UADRC vs ADRC)
ISE	0.112	0.085	0.032	0.027	−75.9%	−68.2%	−15.6%
ITAE	1.951	4.786	0.845	0.314	−83.9%	−93.4%	−62.8%
OCI	17762.79	17767.91	17763.00	17762.96	+9.6 × 10^−4%	−2.8 × 10^−2%	−2.3 × 10^−4%