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

Table 2

Time domain indices of closed loop system for nominal plant.

Time domain performance index
Rise time (sec)	1.768	0.091	0.085	0.013	0.144	0.173
Settling time (sec)	3.415	0.754	0.749	0.572	1.674	1.1
Overshoot percentage (% age)	0	6.93	8.296	73.953	49.099	28.9
Steady state error (% age)	0	0	0	0	0	0
Gain margin (dB)	22.2	151	7.13	146	7.13	19.3
Phase margin (deg)	90.6	43.2	41.2	9.38	31	43.2
Peak response (dB)	1.18	22.3	5.13	15.7	8.8	6.19
Peak response (dB)	0	2.75	3.12	15.7	6.01	3.37