On-off

PID

RBF-PID

e-RBF-PID

Savings

(e-RBF-PID to PID) [%]

Settling time

(Scenario 1) [s]

N/A

389

436

340

12.6

Settling time

(Scenario 2) [s]

N/A

435

N/A

272

37.5

Settling time

(Scenario 3) [s]

N/A

716

334

365

49.0