Table 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 |