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TableĀ 3 Boundary limits of the controller gain parameters

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

Gain parameters Minimum value Maximum value
Kp 1 4 5
Kd 1 3 4
Ki 1 0.4 0.8
Kp 2 4 5
Kd 2 3 4
Ki 2 1 1.3
Kp 3 10 13
Kd 3 15 20
Ki 3 2 3