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. 2023 Jun 7;13:9281. doi: 10.1038/s41598-023-36506-5

Table 2.

Performance comparison of optimal rule base Fuzzy-PID for respiratory ventilator system.

Method	Controller parameter			Controller performance
Method	$K_{p}$	$K_{i}$	$K_{d}$	$M_{p} (\times 10^{- 4})$	$t_{p} (s)$	$t_{s} (s)$
Fmincon-PS based PID³³	1.62	131.9539	0.025	1.12	0.005	0.18
C-CTO-PID¹⁶	1.65	131.3	0.006	1.02	0.005	0.06
Fuzzy-PID³⁰	0.77034	217.7555	0.0125	1.7	0.005	0.06
Optimal rule based Fuzz-PID	0.289085	62.8799	0.000480583	1.5	0.001	0.002