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TableĀ 4 System performance using different performance indices

From: Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism

Performance index Percent overshoot Settling time (s) Rise time (s) Peak time (s)
ISE 33.8 0.9650 0.2150 0.3950
IAE 27.9 0.7800 0.2300 0.4400
MSE 46.6 1.8720 0.1970 0.3540
ITAE 29.3 0.8080 0.2480 0.4610
ITSE 34.8 1.0140 0.2230 0.4110