Evolutionary Tuning Method for PID Controller Parameters of a Cruise Control System Using Metamodeling

Table 5

System response characteristics for nonlinear model.

Disturbances type	Characteristics	Actual	Metamodel
Wind force	𝑇𝑝	103s–203s	103s–203s
	𝑇𝑠	110s–214s	111s–219s
	%OS	−1.93%–1.93%	−1.58%–1.86%
Gravity force	𝑇𝑝	303s–403s	303s–403s
	𝑇𝑠	317s–418s	332s–434s
	%OS	−31.02%–30.99%	−31.11%–31.12%