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

Table 4

Performance indices of closed loop system for worst-case plant scenario (±40% uncertainty range).

Performance index (±40% uncertainty range)
Rise time (sec)	1.268	0.102	0.0973	0.0111	∞	0.176
Settling time (sec)	3.49	1.005	0.9672	0.8658	∞	36.83
Overshoot percentage (%)	2.85	25.36	25.23	82.32	∞	73.28
Steady state error % age (%)	0	0	0	0	∞	0
Gain margin (dB)	14.3	145	6.76	138	−4.09	0.551
Phase margin (deg)	68.9	23	22.3	5.62	−16.5	1.63
Peak values	0	8.01	8.5	20.2	28.6	31.4
Peak values	1.56	8.85	9.04	20.3	28.7	31.5