A Novel Sliding Mode Control with Low-Pass Filter for Nonlinear Handling Chain System in Container Ports

Table 3

Result comparisons among four methods in Case 3.

Method	ufr(max)	Asymptotic value	Settling time	ufr(50)	ITAE
TM	1.4735	—	—	1.4735	886.4696
PSO	0.8918	—	—	0.8615	586.8973
SMC	0.7720	0	46.6	0.0017	189.2126
SMC-LPF	0.7994	0	46.7	0.0018	198.6476