Control Algorithm

Characteristic

Robust

Adaptive

Optimal

Intelligent

Tracking ability

Fast convergence/response

Precision

Simplicity

Disturbance rejection

Unmodeled parameter handling

Manual tuning

(Signal) noise

Chattering/energy loss

1. PID

1

0

0

0

1

1

1

2

0

0

2

2

0

2. Intelligent PID

1

0

0

2

1

1

1

1

0

0

0

1

0

3. LQR

0

2

1

0

1

1

0

1

1

0

1

1

0

4. LQG

0

2

2

0

1

1

0

0

2

0

1

0

0

5. L₁

0

2

2

0

1

2

2

0

1

0

0

0

0

6. H₁

2

1

2

0

2

0

1

0

1

1

0

0

0

7. SMC

1

2

1

0

2

2

2

1

2

1

0

0

2

8. FBL

1

1

0

0

2

2

2

1

1

1

0

1

0

9. Backstepping

0

2

0

0

2

0

1

0

2

1

0

0

0

10. Fuzzy logic

1

1

1

2

1

1

1

1

1

0

1

0

0

11. Neural networks

1

2

2

2

1

1

1

0

1

1

0

0

0

12. Genetic

1

2

2

2

1

1

1

0

1

2

0

0

0