Tuning

Method

PID Parameter

Dynamic

Performance Specifications

Performance

Index

Kp

(Proportional gain)

Ki

(Integral gain)

Tr

(Rise time)

Ts

(Settling time)

Mp (%)

(Peak overshoot)

IAE

(Integral Absolute error)

PID

6

0.7

2.1648

26.8930

17.4868

2

PSO

5.34542

6.86754

0.56423

4.3456

0

1.43545