Model Based Adaptive Piecewise Linear Controller for Complicated Control Systems

Table 2

The ISE and IAE of five methods for Example 1.

	Proposed	ZN(PI)	ZN(PID)	Tan’s(PID)	Majhi’s(PI)
ISE	1.347	2.268	1.770	2.247	2.465
IAE	1.599	4.011	2.876	3.073	4.066