Table 3 Adopted boundaries of the controller parameters.
Bounds | \(\:{K}_{p1}\) | \(\:{K}_{i}\) | \(\:{K}_{p2}\) | \(\:{K}_{d}\) | \(\:N\) |
|---|---|---|---|---|---|
Lower bound | 1 | 0.1 | 1 | 0.05 | 10 |
Upper bound | 20 | 10 | 20 | 5 | 500 |
Bounds | \(\:{K}_{p1}\) | \(\:{K}_{i}\) | \(\:{K}_{p2}\) | \(\:{K}_{d}\) | \(\:N\) |
|---|---|---|---|---|---|
Lower bound | 1 | 0.1 | 1 | 0.05 | 10 |
Upper bound | 20 | 10 | 20 | 5 | 500 |