Table 4 Optimized 2DoF-PID controller parameters obtained by QIO and other algorithms.
Algorithm | \({K}_{p}\) | \({T}_{i}\) | \({T}_{d}\) | \(\alpha\) | \(\beta\) | \(\gamma\) |
---|---|---|---|---|---|---|
QIO | 7.1621 | 99.6274 | 26.9368 | 0.0831 | 0.8323 | 4.7038 |
DE | 3.4200 | 118.0465 | 16.1474 | 0.0959 | 1.1994 | 2.6769 |
PSO | 6.7559 | 140.7039 | 48.1530 | 0.0845 | 0.9725 | 1.5425 |
FLA | 6.9239 | 108.3006 | 27.2994 | 0.1180 | 0.8155 | 0.1601 |
MGO | 4.2528 | 130.8834 | 28.1018 | 0.0963 | 1.2436 | 2.4754 |