Table 7 Optimal controller gains with EV.
Controller | Optimization | Area controller | \(K_{p1}\) | \(K_{i1}\) | \(K_{pf}\) | \(K_{df}\) | \(x\) | \(y\) | \(z\) | \(K_{xi}\) |
|---|---|---|---|---|---|---|---|---|---|---|
FSMC | GOA | \(x_{1}\) | 9.0374 | 0.1943 | 1.5489 | 9.0000 | − 7.6628 | − 0.9867 | 0.3431 | 0.8000 |
\(x_{2}\) | 2.2906 | 6.6612 | 6.9924 | 0.8131 | 2.1200 | − 9.0961 | − 9.4435 | 0.8000 | ||
\(x_{3}\) | 0.0100 | 7.0000 | 3.4310 | 7.0000 | − 5.4876 | 4.6952 | − 5.5857 | 0.7411 | ||
\(x_{4}\) | 3.3289 | 5.9155 | 6.2604 | 0.3120 | 1.4998 | − 3.4882 | 6.4911 | 0.6198 | ||
\(x_{5}\) | 6.1297 | 3.4270 | 7.0000 | 1.8337 | − 9.5407 | 7.3619 | − 0.5905 | 0.6984 | ||
MGOA | \(x_{1}\) | 9.0374 | 2.0943 | 1.5489 | 9.0000 | − 7.6628 | − 0.9867 | 0.3431 | 0.8000 | |
\(x_{2}\) | 5.5290 | 6.6612 | 6.9924 | 0.8131 | 2.1200 | − 9.0961 | − 9.4435 | 0.8000 | ||
\(x_{3}\) | 0.0100 | 7.0000 | 3.4310 | 7.0000 | − 5.4876 | 4.6952 | − 5.5857 | 0.7411 | ||
\(x_{4}\) | 3.3289 | 5.9155 | 6.2604 | 0.3120 | 1.4998 | − 3.4882 | 6.4911 | 0.6198 | ||
\(x_{5}\) | 6.1297 | 3.4270 | 7.0000 | 1.8337 | − 9.5407 | 7.3619 | − 0.5905 | 0.6984 |
