Table 3 Ranges and optimal parameters of standard PID controller.

From: Enhanced PID controller tuning for nonlinear continuous stirred-tank heaters using a modified Newton-Raphson optimizer with random opposition and Lévy-flight learning

Parameter

Range

mNRBO

NRBO

HO

GEO

SMA

\({K}_{P}\)

[1–10]

6.6595

8.0709

7.2614

5.8035

7.0093

\({T}_{I}\)

[20–200]

138.6948

181.1913

166.1372

137.1584

161.8158

\({T}_{D}\)

[10–100]

27.7611

49.4473

52.4883

55.1365

52.3058

\(\alpha\)

[0.05–0.2]

0.0780

0.0756

0.0825

0.1052

0.0715

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