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Table 7 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 4.2287 4.0000 4.0003
Kd 1 3.0064 3.1065 3.0089
Ki 1 0.7380 0.6773 0.7267
Loop 2 Kp 2 4.5638 4.3183 4.7770
Kd 2 3.2615 3.6085 3.4461
Ki 2 1.0322 1.2380 1.1306
Loop 3 Kp 3 11.4488 10.7368 11.3992
Kd 3 19.3417 17.1030 18.0021
Ki 3 2.6508 2.0113 2.6529