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Table 13 Optimized gain values

From: Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines

  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