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Table 1 Optimal values for normalizing gains of the three tuning cases
From:
Type-2 fuzzy self-tuning of modified fractional-order PID based on Takagi–Sugeno method
Case
k
p
,
k
i
,
k
d
,
λ
and
μ
Case
k
p,
k
i and
k
d
Case
λ
and
μ
Normalizing gains
0.09
1
10
Ke
0.03
1
30
Kde
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