Controller | Area 1 | Area 2 | ||||||||||
Case 1 | Case 2 | Case 3 | Case 1 | Case 2 | Case 3 | |||||||
KP1 | KI1 | KP1 | KI1 | KP1 | KI1 | KP2 | KI2 | KP2 | KI2 | KP2 | KI2 | |
Z-N | 0.2405 | 0.715 | 0.197 | 0.605 | 0.195 | 0.625 | 0.345 | 0.745 | 0.3210 | 0.7127 | 0.3205 | 0.5421 |
FPI | 0.175 | 0.250 | 0.20 | 0.555 | 0.210 | 0.545 | 0.2331 | 0.3701 | 0.2051 | 0.685 | 0.2123 | 0.680 |
PSO-ISE | 0.325 | 0.4205 | 0.301 | 0.4265 | 0.3250 | 0.4135 | 0.2505 | 0.5214 | 0.2765 | 0.4157 | 0.2706 | 0.4710 |
PSO-ITSE | 0.3015 | 0.4175 | 0.3105 | 0.4956 | 0.320 | 0.3915 | 0.2831 | 0.5001 | 0.2871 | 0.4101 | 0.2801 | 0.4611 |
PSO-IAE | 0.2971 | 0.4103 | 0.310 | 0.7101 | 0.3221 | 0.4001 | 0.2768 | 0.510 | 0.2715 | 0.4423 | 0.2900 | 0.4733 |
PSO-ITAE | 0.3197 | 0.4123 | 0.3321 | 0.5191 | 0.3210 | 0.4200 | 0.2899 | 0.5021 | 0.2665 | 0.4741 | 0.2899 | 0.4777 |
PSO-MSE | 0.4550 | 1.012 | 0.3001 | 0.9123 | 0.4000 | 0.920 | 0.9245 | 1.3232 | 0.7001 | 1.0219 | 0.6748 | 1.0114 |