Table 1. Some cost functions that are widely used in the literature.

ITAE =${\int }_0^{t}t\left|e\left(t\right)\right|dt$

ITSE =${\int }_0^{t}te{\left(t\right)}^{2}dt$

IAE =${\int }_0^t\left|e\left(t\right)\right|dt$

ISE =${\int }_0^{t}e{\left(t\right)}^{2}dt$