PID Controller Parameter Optimized by Reformative Artificial Bee Colony Algorithm

Table 6

Performance index when the parameters T = 10, T₁ = 5, and  = 15.

		tr	tp	σ %	ts	WITAE
RABC	DC; DCWT; PCSST	0.193; 40; 0.049	0.302; 69; 0.085	0.15831; 0.073972; 0.12111	0.232; 48; 0.06	128.9; 28.45; 34.49
PSO	DC; DCWT; PCSST	0.211; 119; 0.114	0.357; 201; 0.119	0.29852; 7.5223; 1.3367	0.263; 303; 0.143	138.5; 40.03; 52.98
DE	DC; DCWT; PCSST	0.209; 91; 0.11	0.345; 156; 0.187	0.42965; 1.6836; 2.051	0.259; 112; 0.196	138.4; 52.83; 64.6
GA	DC; DCWT; PCSST	0.211; 66; 0.09	0.711; 112; 0.156	0.16068; 1.813; 1.4905	0.289; 80; 0.112	134.9; 89.15; 65.28