Table 9 Boundary limits of the controller gain parameters
From: Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
| Â | Parameter | Lower | Upper |
|---|---|---|---|
Loop 1 | Kp 1 | 1.5 | 2.4 |
Kd 1 | 0.5 | 1 | |
Ki 1 | 0.9 | 1.4 | |
Loop 2 | Kp 2 | 5 | 6.5 |
Kd 2 | 2.5 | 4 | |
Ki 2 | 1.5 | 2 | |
Loop 3 | Kp 3 | 8 | 12 |
Kd 3 | 7.5 | 9 | |
Ki 3 | 0 | 0.5 | |
Loop 4 | Kp 4 | 8 | 10 |
Kd 4 | 5 | 8 | |
Ki 4 | 0 | 0.5 | |
Loop 5 | Kp 5 | 30 | 50 |
Kd 5 | 10 | 20 | |
Ki 5 | 1 | 10 |