Table 2

Optimized gains of PI controllers using proposed and various algorithms.

Algorithm Kp1, Ki1 Kp2, Ki2 Kp3, Ki3 Kp4, Ki4 Kp5, Ki5 Kp6, Ki6 Kp7, Ki7 Kp8, Ki8
Proposed ERHHO 0.3754, 5.162 1.4758, 3.8540 0.1145, 0.6375 0.8872, 1.8776 0.0745, 0.9547 0.0745, 0.9547 0.4210, 1.5247 0.4210, 1.5247
MCABC 0.1454, 7.3152 1.2074, 4.9654 0.5470, 0.7459 0.6345, 2.0457 0.0154, 1.4716 0.0154, 1.4716 0.9055, 1.8749 0.9055, 1.8749
TLBO-EO 0.1198, 6.9450 1.1925, 4.7599 0.5578, 0.7041 0.5973, 2.2761 0.0073, 1.5473 0.0073, 1.5473 1.0061, 2.0965 1.0061, 2.0965
SMO 0.1588, 6.9844 1.0875, 4.0014 0.5696, 0.7542 0.5579, 2.3498 0.0204, 1.4918 0.0204, 1.4918 1.0064, 2.2876 1.0064, 2.2876
ARA 0.1746, 6.2214 1.2252, 3.9475 0.6074, 0.8874 0.6928, 2.7519 0.0319, 1.4473 0.0319, 1.4473 0.8547, 2.8936 0.8547, 2.8936
CB 0.1225, 6.8345 1.3024, 4.1745 0.6457, 0.8832 0.7018, 2.0457 0.0337, 1.4750 0.0337, 1.4750 0.8871, 2.9324 0.8871, 2.9324
Ziegler Nicholas 1.3652, 10.6547 2.574, 8.1475 1.085, 3.745 1.1850, 11.195 0.1574, 5.1275 0.1574, 5.1275 1.5479, 5.7480 1.5479, 5.7480

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