| Controller | Area1 | Area2 | ||
| Overshoot (Hz) | Settling Time (Sec) | Overshoot (Hz) | Settling Time (Sec) | |
| Classical Z-N(Z-N) | +0.162 | 66 | +0.141 | 62 |
| Fuzzy PI(FPI) | +0.126 | 43 | +0.120 | 45 |
| PSO-MSE | +0.045 | 52 | −0.125 | 40 |
| PSO-ISE | +0.046 | 34 | −0.115 | 24 |
| PSO-IAE | +0.045 | 49 | −0.115 | 32 |
| PSO-ITSE | +0.042 | 34 | −0.110 | 29 |
| PSO-ITAE | +0.05 | 34 | −0.115 | 35 |