Design of Active Disturbance Rejection Controller for Dynamic Positioning Based on Improved Particle Swarm Optimization

Table 4

Optimal parameters of IADRC (surge).

ESO.	Value	NLSEF	Value	TD	Value
	89.3647		66.5359	h	0.001
	976.5212		96.5135	r	50
	303.0062		1.2568
	2		0.75
	0.5		1.25
	0.25		−0.25
	0.025		0.1
	0.025