PID Controller Parameter Optimized by Reformative Artificial Bee Colony Algorithm

Table 5

Performance index.

		tr	tp	σ %	ts	WITAE
RABC	DC; DCWT; PCSST	0.114; 28; 0.043	0.176; 10; 0.074	0.038882; 0; 0.089273	0.134; 32; 0.052	77.28; 20.48; 30.28
PSO	DC; DCWT; PCSST	0.124; 60; 0.095	0.241; 100; 0.103	0.049552; 3.1078; 1.9173	0.157; 123; 0.117	82.04; 38.64; 55.95
DE	DC; DCWT; PCSST	0.116; 65; 0.096	0.183; 115; 0.164	0.075293; 1.1421; 1.7873	0.138; 82; 0.118	78.05; 37.38; 56.65
GA	DC; DCWT; PCSST	0.127; 68; 0.126	0.293; 116; 0.305	0.082143; 1.5401; 0.15743	0.166; 84; 0.177	82.86; 45.93; 66.34