Table 2 Bounds of exp-PID controller for liquid level control system.

From: Designing a cascaded exponential PID controller via starfish optimizer for DC motor and liquid level systems

Bound

\(\:{\varvec{K}}_{\varvec{p}}\)

\(\:{\varvec{K}}_{\varvec{i}}\)

\(\:{\varvec{K}}_{\varvec{d}}\)

\(\:{\varvec{\tau\:}}_{1}\)

\(\:{\varvec{g}}_{1}\)

\(\:{\varvec{\tau\:}}_{2}\)

\(\:{\varvec{g}}_{2}\)

Lower

0.01

0.0001

0.1

0.1

0.1

0.1

0.1

Upper

1

0.01

10

10

10

10

10

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