Parameter Variation

%

Change

Controller

Performance Index

Settling Time (Ts) in sec

ISE

IAE

ITAE

ΔF1

ΔF2

ΔF3

Case B

+25%

in TG

Conv PI

2.4170e+003

6.5980e+004

3.2888e+06

197.9

198

197.2

GA PI

199.5821

6.3954e+03

6.4610e+04

53.24

59.72

54

PSO PI

191.7430

6.2585e+03

8.6006e+04

43.71

43.01

42.93

BAT PI

258.5478

7.8110e+03

5.7540e+04

36.65

37.23

36.79

ALO PI

186.7742

5.2499e+03

3.6980e+04

21.85

22.32

22.03

+25%

in TT

Conv PI

1.8112e+003

5.1996e+004

2.0302e+006

198.4

195.4

195.5

GA PI

622.5414

1.7977e+04

2.9229e+05

124.6

112.7

120.4

PSO PI

469.5161

1.3650e+04

2.0004e+05

107.8

91.41

87.41

BAT PI

749.5638

2.1911e+04

3.7435e+05

97.23

93.34

77.53

ALO PI

401.8087

1.1103e+04

1.1486e+05

68.12

62.06

63.37

+25%

in T12

Conv PI

1.2332e+003

4.0432e+004

1.3645e+006

196.4

157.1

190.3

GA PI

231.3837

7.4623e+03

7.6473e+04

54.35

57.87

53.6

PSO PI

217.9085

7.0637e+03

9.3569e+04

38.36

44.41

41.76

BAT PI

291.4573

8.8849e+03

6.9190e+04

28.31

38.75

38.52

ALO PI

210.3520

6.0441e+03

4.3933e+04

23.15

27.63

27.03

−25%

in TG

Conv PI

199.7606

8.7988e+003

1.1584e+005

77.34

73.84

70.61

GA PI

125.8109

4.7644e+03

5.2134e+04

28.31

27.84

46.64

PSO PI

123.2376

4.7568e+03

7.6474e+04

22.53

17.83

39.92

BAT PI

153.5863

5.4350e+03

3.9674e+04

18.93

15.35

20.99

ALO PI

126.7282

3.9297e+03

2.8650e+04

15.19

12.74

15.91

−25%

in TT

Conv PI

134.1685

7.4446e+003

1.0388e+005

60.22

70.9

72.75

GA PI

99.6813

4.6223e+03

5.4438e+04

38.39

39.46

50.73

PSO PI

94.9256

4.4384e+03

7.6097e+04

27.72

28.62

38.69

BAT PI

98.9754

4.2241e+03

3.2559e+04

21.42

21.71

31.41

ALO PI

96.4345

3.5071e+03

2.7416e+04

13.85

16.87

19.61

−25%

in T12

Conv PI

184.3827

8.2345e+003

1.0851e+005

54.14

72.27

69.4

GA PI

121.6113

4.6104e+03

5.1095e+04

22.36

35.03

46.77

PSO PI

118.7871

4.6084e+03

7.4763e+04

18.55

23.73

22.84

BAT PI

154.6238

5.5114e+03

4.0791e+04

16.7

21.16

20.19

ALO PI

122.1739

3.7845e+03

2.7824e+04

12.12

18.1

17.61