Based on Sliding Mode and Adaptive Linear Active Disturbance Rejection Control for a Magnetic Levitation System

Table 4

Error index of step response with interference.

Reference signal	Controller	IAE	ITAE	ITSE
Step + interference (5 N)	PID
	LADRC
	IPSO–SMC–ALADRC
Step + interference (10 N)	PID
	LADRC
	IPSO–SMC–ALADRC