PID

Continuous

Discrete

Δ(%)

ITAE

0.749

1.658

1.783

7.5

0.963

0.434

ITAY

0.664

1.150

1.262

9.7

0.903

0.479

ITAE_ITAY

0.714

1.429

1.543

8.0

0.964

0.424