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

Table 7

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

	PI	SMC	ADRC	UADRC	Improvements (UADRC vs PI)	Improvements (UADRC vs SMC)	Improvements (UADRC vs ADRC)
ISE	0.110	0.081	0.032	0.028	−74.5%	−65.4%	−12.5%
ITAE	1.690	4.257	0.738	0.300	−82.2%	−93.0%	−59.3%
OCI	17129.53	17136.63	17129.72	17129.67	+8.2 × 10^−4%	−4.1 × 10^−2%	−2.9 × 10^−4%