Table 13 Optimized gain values
From: Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
| Â | Parameter | BFA | SDA | HSDBC |
|---|---|---|---|---|
Loop 1 | Kp 1 | 2.0729 | 2.3452 | 2.1566 |
Kd 1 | 0.8572 | 0.8714 | 0.8095 | |
Ki 1 | 1.3925 | 1.2778 | 1.2026 | |
Loop 2 | Kp 2 | 6.0155 | 5.1504 | 5.1530 |
Kd 2 | 2.8185 | 3.1264 | 2.6917 | |
Ki 2 | 1.6390 | 1.9794 | 1.8754 | |
Loop 3 | Kp 3 | 8.7514 | 11.3330 | 11.4514 |
Kd 3 | 8.1889 | 8.3229 | 8.9946 | |
Ki 3 | 0.2449 | 0.2731 | 0.3771 | |
Loop 4 | Kp 4 | 8.9718 | 9.8522 | 9.9903 |
Kd 4 | 5.1315 | 6.7829 | 6.6239 | |
Ki 4 | 0.0071 | 0.0532 | 0.0410 | |
Loop 5 | Kp 5 | 49.9646 | 36.5230 | 36.6753 |
Kd 5 | 13.6834 | 14.2519 | 14.3583 | |
Ki 5 | 4.0408 | 5.3567 | 5.4203 |