From: Bacterial foraging-optimized PID control of a two-wheeled machine with a two-directional handling mechanism
Control
Percent overshoot
Settling time (s)
Peak time (s)
Rise time (s)
PID
48.1
2.2870
0.5710
0.2790
BFO
27.9
0.7800
0.4400
0.2300