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

Table 5

Result comparisons among four methods in Case 5.

Method	ufr(max)	Asymptotic value	Settling time	ufr(50)	ITAE
TM	1.2062	—	—	1.1472	888.4941
PSO	0.4203	—	—	0.4148	320.5332
SMC	7.8525e − 004	0	14.7	1.1730e − 004	0.0808
SMC-LPF	7.5814e − 004	0	14.7	4.0540e − 008	0.0416