Algorithm | ISFS: PID [1] | DSA: FOPID [23] | DSA: FOPI–FOPD [23] | CGO: FOPID–FOPI |
---|---|---|---|---|
Controller parameters | \({K}_{P}=1.6293\) | \({K}_{P}=2.0331\) | \({K}_{P1}=1.2485\) | \({K}_{P1}=3.0000\) |
\({K}_{I}=2.0000\) | \({K}_{I}=2.9999\) | \({K}_{P2}=2.9999\) | \({K}_{P2}=0.9700\) | |
\({K}_{D}= 0.5882\) | \({K}_{D}=0.4670\) | \({K}_{I}=2.9998\) | \({K}_{I1}=2.975\) | |
\(\lambda =1.0007\) | \({K}_{D}=3.0000\) | \({K}_{I2}=3.0000\) | ||
\(\mu =1.0517\) | \(\lambda =1.1007\) | \({K}_{D}=2.1678\) | ||
\(\mu =0.6312\) | \({\lambda }_{1}=0.0298\) | |||
\({\lambda }_{2}=0.9977\) | ||||
\(\mu =0.9078\) | ||||
ST (s) (2% band) | ||||
\(\Delta {F}_{1}\) | 2.15 | 1.13 | 0.72 | 0.46 |
\(\Delta {F}_{2}\) | 3.66 | 2.73 | 1.48 | 1.18 |
\(\Delta {P}_{tie12}\) | 3.01 | 2.23 | 0.86 | 0.61 |
\({J}_{ITAE}\) | n/a | 0.0778 | 0.0180 | 0.0091 |