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 kp, ki, kd, λ and μ | Case kp, ki and kd | Case λ and μ | Normalizing gains |
|---|---|---|---|
| 0.09 | 1 | 10 | Ke |
| 0.03 | 1 | 30 | Kde |