Gain

Conventional PID

GA-PID

IAE

ITAE

ISE

ITSE

k_P

19.1228

18.85

11.38

22.046

14.268

k_I

60,517.0162

64,869.2

59,637

48,926.2

45,350.9

k_D

0.00135

0.002

0.000943

0.001

0.001