| Parameter Variation | % Change | Controller | Performance Index | Settling Time (Ts) in sec | ||||
| ISE | IAE | ITAE | ΔF1 | ΔF2 | ΔF3 | |||
| Case B | +25% in TH1 | Conv PI | 640.3085 | 2.2469e+04 | 4.3259e+05 | 98.35 | 94.86 | 111.5 |
| GA PI | 150.4418 | 5.2925e+03 | 5.9267e+04 | 20.4 | 47.49 | 42.11 | ||
| PSO PI | 147.4219 | 5.2543e+003 | 8.3200e+004 | 17.86 | 40.39 | 33.02 | ||
| BAT PI | 174.1908 | 5.7051e+003 | 4.3449e+004 | 15.01 | 21.88 | 22.36 | ||
| ALO PI | 149.2697 | 4.3745e+003 | 3.2572e+004 | 13.27 | 16.17 | 19.63 | ||
| −25% in TH1 | Conv PI | 646.2135 | 2.2851e+04 | 4.4357e+05 | 108.3 | 99.33 | 112.8 | |
| GA PI | 153.6146 | 5.3245e+03 | 5.0693e+04 | 42.94 | 48.67 | 57.82 | ||
| PSO PI | 147.4235 | 5.1995e+003 | 7.1503e+004 | 28.81 | 36.01 | 31.45 | ||
| BAT PI | 171.7490 | 5.5536e+003 | 3.6383e+004 | 22.43 | 29.57 | 21.43 | ||
| ALO PI | 186.3932 | 5.4897e+003 | 3.6976e +004 | 18.56 | 19.92 | 18.56 | ||
| +25% in TH3 | Conv PI | 635.4319 | 2.2416e+04 | 4.3628e+05 | 123.8 | 110.8 | 117 | |
| GA PI | 150.0007 | 5.3351e+03 | 6.1740e+04 | 50.28 | 64.02 | 63.65 | ||
| PSO PI | 147.6909 | 5.4360e+003 | 9.6678e+004 | 34.61 | 39.47 | 35.77 | ||
| BAT PI | 169.7062 | 5.5613e+003 | 4.1018e+004 | 21.65 | 28.48 | 21.95 | ||
| ALO PI | 161.6022 | 4.7642e+003 | 3.5182e+004 | 16.54 | 19.56 | 16.78 | ||
| −25% in TH3 | Conv PI | 663.1553 | 2.3353e+04 | 4.5034e+05 | 105.7 | 100.9 | 116.9 | |
| GA PI | 152.9414 | 5.2504e+03 | 4.9655e+04 | 42.27 | 51.07 | 52.19 | ||
| PSO PI | 149.0362 | 5.0918e+003 | 6.2321e+004 | 33.5 | 37.65 | 34.96 | ||
| BAT PI | 208.4893 | 6.7761e+003 | 4.7161e+004 | 24.92 | 22.36 | 21.23 | ||
| ALO PI | 149.2290 | 4.3562e+003 | 2.9897e+004 | 18.23 | 19.15 | 19.73 | ||