Table 2 Controller gains and performance metrics for the best-compromise solution from POS for the position control of the DC Motor.
| Â | \(\:{\varvec{x}}_{1}\) | \(\:{\varvec{x}}_{2}\) | \(\:{\varvec{x}}_{3}\) | \(\:{\varvec{x}}_{4}\) | \(\:{\varvec{x}}_{5}\) |
|---|---|---|---|---|---|
Proportional Gain \(\:{K}_{P}\) | 0.217 | 0.221 | 0.209 | 0.222 | 0.226 |
Integral Gain \(\:{K}_{I}\) | 0.000681 | 0.000743 | 0.00072 | 0.000693 | 0.000729 |
Derivative Gain \(\:{K}_{D}\) | 4.67 | 4.42 | 4.55 | 4.47 | 4.39 |
Derivative Filter \(\:N\) | 451 | 432 | 436 | 443 | 422 |
Rise Time (sec.) | 0.2327 | 0.2279 | 0.2419 | 0.2273 | 0.222 |
Settling Time (sec.) | 0.4222 | 0.4135 | 0.4388 | 0.4124 | 0.4028 |
Overshoot %age | 0.0232 | 0 | 0 | 0 | 0.0083 |
Steady State Error | 0 | 0 | 0 | 0 | 0 |
Peak Sensitivity | 1.0935 | 1.095 | 1.0909 | 1.0952 | 1.0968 |
Peak Complementary Sensitivity | 1.0002 | 1.0002 | 1.0002 | 1.0002 | 1.0002 |
