PID Controller Parameter Optimized by Reformative Artificial Bee Colony Algorithm

Table 2

Benchmark function experimental results.

Function		ABC	GABC	GBABC	RABC
F1	Mean; Std	0.00218509; 0.00129199	0.000172577; 0.000147622	0.000144142; 9.31112e − 05	6.49866e − 05; 2.46584e − 05
F2	Mean; Std	0.00338069; 0.00235156	0.0024648; 0.0025263	5.02474e − 05; 1.80147e − 05	9.78549e − 06; 1.96744e − 06
F3	Mean; Std	0.00130278; 0.00040916	0.00134831; 0.00025792	5.77273e − 05; 6.32839e − 05	1.17531e − 05; 4.90377e − 06
F4	Mean; Std	0.0287649; 0.0374303	0.0123041; 0.0081333	4.1950e − 10; 4.3844e − 10	1.02564e − 11; 8.64572e − 11
F5	Mean; Std	3.2728; 0.337852	3.03062; 0.00717374	3.0111; 0.00522465	3.00295; 0.00379628
F6	Mean; Std	−0.0548194; 0.3775246	−0.351209; 0.352833	−0.41055; 0.0580604	−0.771196; 0.00293816