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

Table 8

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

	PI	SMC	ADRC	UADRC	Improvements (UADRC vs PI)	Improvements (UADRC vs SMC)	Improvements (UADRC vs ADRC)
ISE	0.113	0.087	0.032	0.028	−75.2%	−67.8%	−12.5%
ITAE	1.991	4.870	0.868	0.346	−82.6%	−92.9%	−60.1%
OCI	17763.56	17768.58	17763.78	17763.74	+1.0 × 10^−3%	−2.7 × 10^−2%	−2.3 × 10^−4%