Optimal Tuning of Decentralized PI Controller of Nonlinear Multivariable Process Using Archival Based Multiobjective Particle Swarm Optimization

Table 5

Controller parameters.

Parameter	Baseline PI	Cuckoo PI	Bat PI	Simm A	MOPSO PI
CV_Kp	−1.226𝑒−4	−1.226𝑒−4	−1.226𝑒−4	−1.5445𝑒−4	−2.57𝑒−4
CV_Ki	−8.0404𝑒−5	−8.0404𝑒−5	−8.0404𝑒−5	−1.0867𝑒−4	−7.588𝑒−4
BM_Kp	0.1450706	0.1450706	0.1450706	0.1814	0.2465885
BM_Kf	1.0327973	1.0327973	1.0327973	1.2910	1.86302375
Pr_Kp	2.0189𝑒−4	3.5427𝑒−4	4.0149𝑒−4	2.2281𝑒−4	2.1424𝑒−4
Pr_Ki	2.6457𝑒−5	7.0102𝑒−8	1.14496𝑒−7	6.14𝑒−6	1.145𝑒−5
Tg_Kp	1.70129	1.70129	1.70129	2.1266	1.76866
Tg_Ki	9.4794𝑒−3	9.4794𝑒−3	9.4794𝑒−3	1.19𝑒−2	1.0224𝑒−2