| 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 | ||