Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

Table 3

Optimal gains of optimal PID, antiwindup PID, and adaptive anti-windup PID sliding mode control systems in experiments.

Gain	Optimal PID	Optimal antiwindup PID	Adaptive antiwindup PID sliding mode
Proportional (𝐾𝑝 or 𝑘1)	1034.3	1694.7	95.0
Integral (𝐾𝑖 or 𝑘2)	18.4	1087.7	0.001
Derivative (𝐾𝑑 or 𝑘3)	4.7	416.0	14.5
Antiwindup (𝐾𝑎)	—	0.001	0.001