Parameter Variation

%

Change

Controller

Performance Index

Settling Time (Ts) in sec

ISE

IAE

ITAE

ΔF1

ΔF2

ΔF3

Case B

+25%

in TH1

Conv PI

640.3085

2.2469e+04

4.3259e+05

98.35

94.86

111.5

GA PI

150.4418

5.2925e+03

5.9267e+04

20.4

47.49

42.11

PSO PI

147.4219

5.2543e+003

8.3200e+004

17.86

40.39

33.02

BAT PI

174.1908

5.7051e+003

4.3449e+004

15.01

21.88

22.36

ALO PI

149.2697

4.3745e+003

3.2572e+004

13.27

16.17

19.63

−25%

in TH1

Conv PI

646.2135

2.2851e+04

4.4357e+05

108.3

99.33

112.8

GA PI

153.6146

5.3245e+03

5.0693e+04

42.94

48.67

57.82

PSO PI

147.4235

5.1995e+003

7.1503e+004

28.81

36.01

31.45

BAT PI

171.7490

5.5536e+003

3.6383e+004

22.43

29.57

21.43

ALO PI

186.3932

5.4897e+003

3.6976e +004

18.56

19.92

18.56

+25%

in TH3

Conv PI

635.4319

2.2416e+04

4.3628e+05

123.8

110.8

117

GA PI

150.0007

5.3351e+03

6.1740e+04

50.28

64.02

63.65

PSO PI

147.6909

5.4360e+003

9.6678e+004

34.61

39.47

35.77

BAT PI

169.7062

5.5613e+003

4.1018e+004

21.65

28.48

21.95

ALO PI

161.6022

4.7642e+003

3.5182e+004

16.54

19.56

16.78

−25%

in TH3

Conv PI

663.1553

2.3353e+04

4.5034e+05

105.7

100.9

116.9

GA PI

152.9414

5.2504e+03

4.9655e+04

42.27

51.07

52.19

PSO PI

149.0362

5.0918e+003

6.2321e+004

33.5

37.65

34.96

BAT PI

208.4893

6.7761e+003

4.7161e+004

24.92

22.36

21.23

ALO PI

149.2290

4.3562e+003

2.9897e+004

18.23

19.15

19.73