Skip to main content

Table 4 Controller gain parameters boundary limits

From: PID, BFO-optimized PID, and PD-FLC control of a two-wheeled machine with two-direction handling mechanism: a comparative study

Controlled parameter Gain parameter Upper boundary Lower boundary
Loop 1
δ R Kp 1 20 − 20
Kd 1 20 − 20
Ki 1 0.1 − 0.1
Loop 2
δ L Kp 2 20 − 20
Kd 2 20 − 20
Ki 2 0.1 − 0.1
Loop 3
θ Kp 3 50 − 50
Kd 3 10 − 10
Ki 3 0.1 − 0.1
Loop 4
h 1 Kp 4 20 − 20
Kd 4 10 − 10
Ki 4 0.1 − 0.1
Loop 5
h 2 Kp 5 60 − 60
Kd 5 50 − 50
Ki 5 0.1 − 0.1