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

Table 4

Result comparisons among four methods in Case 4.

Method	ufr(max)	Asymptotic value	Settling time	ufr(60)	ITAE
TM	1.1972	0	44.2	0	426.5556
PSO	0.4492	0	53.9	0	170.2561
SMC	0.2543	0	44.4	0	54.5283
SMC-LPF	0.2549	0	44.1	0	54.6270