Values

Tuning methods

Conventional PI

GA

ANN

ANFIS

Pattern 1

K_P

34.3

12.06

11.7

12.7

K_I

3990

2498

2511

2470

Pattern 2

K_P

34.3

8.92

13.4

13.1

K_I

4152

3247

4237

4210

Pattern 3

K_P

35

1.44

4.4

4.04

K_I

3020

758

987

969