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

Table 3

Performance indices of closed loop system for worst-case plant scenario (±10% uncertainty range).

Performance index (±10% uncertainty range)
Rise time (sec)	1.7731	0.0926	0.0864	0.0128	0.1561	0.1371
Settling time (sec)	3.479	0.799	0.7852	0.618	2.891	1.7093
Overshoot percentage (%)	0	11.54	13.027	76.35	60.47	37.854
Steady state error % age (%)	0	0	0	0	0	0
Gain margin (dB)	20.2	149	6.85	144	4.3	11.6
Phase margin (deg)	86.2	37.2	35.6	8.31	19.2	30.9
Peak values (dB)	0	3.42	4.22	16.7	10.5	6.09
Peak values (dB)	1.19	5.66	5.85	16.7	12	8.01