Research Article
Fuzzy Dynamic Parameter Adaptation in the Harmony Search Algorithm for the Optimization of the Ball and Beam Controller
Table 7
Results with perturbation in the controller.
| | Performance Index | Methods | | FHS | IT2FHS | GT2FHS |
| | RMSE | 1.55E+00 | 1.52E+00 | 1.49E+00 | | ITAE | 1.00E+06 | 1.01E+06 | 8.09E+05 | | ITSE | 2.59E+06 | 2.63E+06 | 1.50E+06 | | IAE | 2.01E+03 | 2.03E+03 | 1.62E+03 | | ISE | 5.18E+03 | 5.26E+03 | 3.01E+03 |
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