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Table 7 System performance comparison between PID, PID-BFO, and PD-FLC control methods

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

Control method Percent overshoot (%) Settling time (s) Rise time (s) Peak time (s)
PID 48.1 2.2870 0.2790 0.5710
PID-BFO 27.9 0.7800 0.2300 0.4400
PD-FLC 38.6 1.4410 0.2170 0.4070