Table 8 Optimal parameters of 2DOF-PIDA, SPID, 2DOF-PID and PIDA controllers tuned by SFOA.
Parameter | 2DOF-PIDA | SPID | 2DOF-PID | PIDA |
|---|---|---|---|---|
\(\:{\varvec{K}}_{\varvec{p}}\) | 8.4566 | 7.2518 | 9.7872 | 6.2987 |
\(\:{\varvec{T}}_{\varvec{i}}\) | 125.4357 | 149.6405 | 120.8249 | 139.3074 |
\(\:{\varvec{T}}_{\varvec{d}}\) | 40.1104 | 39.0831 | 37.4940 | 41.9279 |
\(\:{\varvec{\alpha\:}}_{\varvec{d}}\) | 0.1533 | 0.0916 | 0.0815 | 0.1929 |
\(\:\varvec{\beta\:}\) | 0.9087 | – | 0.7594 | – |
\(\:\varvec{\gamma\:}\) | 7.3544 | – | 4.7765 | – |
\(\:{\varvec{T}}_{\varvec{a}}\) | 23.6976 | – | – | 8.1738 |
\(\:{\varvec{\alpha\:}}_{\varvec{a}}\) | 0.1561 | – | – | 0.2291 |
