Table 6 Optimal 2DOF-PIDA controller parameters.
Parameter | SFOA | GCRA | MSA | HBA | AO |
|---|---|---|---|---|---|
\({{\varvec{K}}_{\varvec{p}}}\) | 8.4566 | 6.7742 | 7.4883 | 15.3677 | 10.7573 |
\({{\varvec{T}}_{\varvec{i}}}\) | 125.4357 | 148.2619 | 179.0271 | 124.7468 | 91.0258 |
\({{\varvec{T}}_{\varvec{d}}}\) | 40.1104 | 36.4294 | 34.2824 | 36.0748 | 33.3091 |
\({\varvec{\alpha}_{\varvec{d}}}\) | 0.1533 | 0.1812 | 0.1340 | 0.1887 | 0.2112 |
\(\varvec{\beta}\) | 0.9087 | 1.0661 | 1.0713 | 0.7265 | 0.6370 |
\(\varvec{\gamma}\) | 7.3544 | 6.4972 | 6.0058 | 4.1054 | 4.3824 |
\({{\varvec{T}}_{\varvec{a}}}\) | 23.6976 | 23.7971 | 18.6869 | 24.4536 | 20.2475 |
\({\varvec{\alpha}_{\varvec{a}}}\) | 0.1561 | 0.2002 | 0.1838 | 0.1269 | 0.1997 |
