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Table 9 Boundary limits of the controller gain parameters

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

  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