Input conditions | Applied algorithms | Optimal parameters (Kp, Ki, Kd, N, T, Tc and Td) | Fitness value | ||||||
---|---|---|---|---|---|---|---|---|---|
0.97,0.4752 | GSA | 3.4994 | 4.0611 | 28.9541 | 0.5440 | 0.0010 | 0.9337 | 0.0010 | 10,567 |
BGA | 99.6484 | 88.3984 | 13.5156 | 1.2207 | 0.6596 | 99.6529 | 0.0050 | 656.8861 | |
SOS | 0.0010 | 1.0000 | 0.0010 | 0.0256 | 0.0010 | 0.0032 | 0.0010 | 566.4984 | |
0.97,1.08 | GSA | 3.6868 | 7.6381 | 13.3414 | 0.2605 | 0.0010 | 0.9587 | 0.0010 | 10,567 |
BGA | 99.6484 | 88.3984 | 44.1016 | 1.9221 | 1.3766 | 99.6529 | 0.0050 | 656.8784 | |
SOS | 0.0010 | 1.0000 | 0.0010 | 0.0010 | 0.0010 | 0.3665 | 0.0775 | 566.4984 | |
0.99,1.08 | GSA | 5.6881 | 5.9764 | 14.7117 | 0.0045 | 0.0709 | 0.8912 | 0.0010 | 10,568 |
BGA | 99.6484 | 99.6484 | 32.5000 | 1.2363 | 1.3688 | 99.6534 | 0.0050 | 656.8323 | |
SOS | 0.0010 | 1.0000 | 0.0010 | 0.0010 | 0.0017 | 0.0466 | 0.0058 | 566.4984 | |
1.0,0.93 | GSA | 3.2616 | 3.9840 | 31.4257 | 0.0010 | 0.4622 | 0.9228 | 0.0010 | 673.9469 |
BGA | 99.6484 | 94.0234 | 32.8516 | 1.5013 | 1.2519 | 99.6532 | 0.0050 | 656.6698 | |
SOS | 0.0010 | 4.8426 | 0.0010 | 0.0010 | 0.0010 | 0.0065 | 0.0010 | 566.4984 | |
1.0,1.08 | GSA | 7.2108 | 8.1683 | 22.7107 | 0.4192 | 0.0010 | 0.9856 | 0.0010 | 674.3396 |
BGA | 99.6484 | 99.6484 | 43.7500 | 1.9221 | 1.1895 | 99.6534 | 0.0050 | 656.7532 | |
SOS | 0.0010 | 1.0000 | 0.0010 | 0.0017 | 0.0010 | 0.0794 | 0.0094 | 566.4984 | |
1.01,0.752 | GSA | 0.0010 | 1.1428 | 3.2945 | 0.9497 | 0.1482 | 0.0010 | 26.6038 | 782.2997 |
BGA | 99.6484 | 99.6484 | 32.5000 | 1.5013 | 1.1272 | 99.6534 | 0.0050 | 656.7778 | |
SOS | 0.0010 | 3.9871 | 0.0010 | 0.0010 | 0.0010 | 0.3827 | 0.0584 | 566.4984 | |
1.01,0.97 | GSA | 2.6124 | 7.3855 | 10.2151 | 0.0801 | 0.0026 | 0.7518 | 0.0010 | 671.2094 |
BGA | 99.6484 | 94.0234 | 32.8516 | 1.5013 | 1.2519 | 99.6532 | 0.0054 | 656.8762 | |
SOS | 0.0010 | 1.0000 | 0.0010 | 0.0010 | 0.0010 | 0.1047 | 0.0223 | 566.4984 | |
1.01,1.08 | GSA | 0.0010 | 1.0000 | 27.2641 | 0.7052 | 0.0876 | 0.0010 | 19.1757 | 664.9852 |
BGA | 99.6484 | 99.6484 | 62.3828 | 1.8753 | 1.7506 | 99.6534 | 0.0050 | 656.8446 | |
SOS | 0.0010 | 1.0000 | 0.0010 | 0.0010 | 0.0137 | 0.0827 | 0.0200 | 566.4984 |