Table 5 Responses analysis in cases 2–5
Case | Controller | |||||
|---|---|---|---|---|---|---|
Indices | CDM-OPT | PID | Fuzzy | CDM | PI | |
Case 2 | ISE ITSE ITAE IAE (J) | 6.422 × 10–6 9.192 × 10–6 9.113 × 10–3 4.262 × 10–3 | 11.52 × 10–6 18.11 × 10–6 16.62 × 10–3 6.439 × 10–3 | 23.37 × 10–6 32.06 × 10–6 12.97 × 10–3 6.887 × 10–3 | 611.7 × 10–6 2395 × 10–6 661.3 × 10–3 110.3 × 10–3 | 1248 × 10–6 4149 × 10–6 1110 × 10–3 141.3 × 10–3 |
Case 3 | ISE ITSE ITAE IAE (J) | 4.994 × 10–5 4.758 × 10–4 3.514 × 10–1 3.624 × 10–2 | 8.506 × 10–5 8.272 × 10–4 4.777 × 10–1 4.803 × 10–2 | 12.05 × 10–5 11.53 × 10–4 5.097 × 10–1 5.435 × 10–2 | 147.5 × 10–5 124.5 × 10–4 16.56 × 10–1 18.89 × 10–2 | 609.5 × 10–5 587.6 × 10–4 62.06 × 10–1 4745 × 10–2 |
Case 4 | ISE ITSE ITAE IAE (J) | 5.763 × 10–5 1.391 × 10–3 1.403 5.718 × 10–2 | 9.967 × 10–5 2.372 × 10–3 1.878 7.654 × 10–2 | 18.52 × 10–5 4.249 × 10–3 2.498 10.45 × 10–2 | 19.26 × 10–5 3.527 × 10–3 2.339 10.69 × 10–2 | 1260 × 10–5 249.4 × 10–3 23.89 105.2 × 10–2 |
Case 5 | ISE ITSE ITAE IAE (J) | 8.438 × 10–5 4.336 × 10–3 2.371 4.409 × 10–2 | 13.98 × 10–5 7.28 × 10–3 3.031 5.786 × 10–2 | 30.33 × 10–5 14.18 × 10–3 5.587 10.65 × 10–2 | 418.4 × 10–5 226.3 × 10–3 39.72 70.7 × 10–2 | 1352 × 10–5 819.1 × 10–3 74.04 121.0 × 10–2 |