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

Table 6

Indexes under dry weather (for varying set-values).

	PI	SMC	ADRC	UADRC	Improvements (UADRC vs PI)	Improvements (UADRC vs SMC)	Improvements (UADRC vs ADRC)
ISE	0.114	0.091	0.032	0.028	−75.4%	−69.2%	−12.5%
ITAE	2.118	5.149	0.924	0.365	−82.8%	−92.9%	−60.5%
OCI	17343.49	17348.58	17343.70	17343.67	+1.0 × 10^−3%	−2.8 × 10^−2%	−1.7 × 10^−4%