Parameter Optimization of MIMO Fuzzy Optimal Model Predictive Control By APSO

Table 3

Pi performances obtained by the different algorithms.

Pi	Algorithms
	NMPC	FMPC-APSO	FOMPC-APSO
Tr	0.8111	0.9820	0.7402
Ts	5.6402	11.0788	1.9936
Ov%	6.0804	2.6922	0.5017
Pic	1.26	0.2055	0.2162
Es	0.00	0.00	0.00
W%	53.4	54.86	—