QFT Based Robust Positioning Control of the PMSM Using Automatic Loop Shaping with Teaching Learning Optimization

Figure 9

Compared closed loop step response of the uncertain PMSM (10% uncertainty range) with TLBO, GA, SA, BA, and PSO tuned QFT controller and Ziegler Nichols tuned PID controller.

(a)

(b)

(c)

(d)

(e)

(f)