Table 7 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 | 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 |