| Case | Description |
| 1 | Two linear PID controllers |
| 2 | Two T1 fuzzy PID controllers |
| 3 | Two IT2 fuzzy PID controllers |
| 4 | One linear PID controller with scaling factors |
| 5 | One T1 fuzzy PID controller with T1 fuzzy scaling factors |
| 6 | One IT2 fuzzy PID controller with IT2 fuzzy scaling factors |