Table 1. Comparison of two different optimization strategies.
| Algorithm | Kp | Ki | Kd | MP | TR | TS | ERR | SPV |
|---|---|---|---|---|---|---|---|---|
| ATT4:1-PID | 2.7 | 0.045 | 0.015 | 51.9501 | 1.1872 | 1.3376 | 0.0476 | 22.0467 |
| ANT-PID | 9.4 | 0.2 | 0.4 | 50.0612 | 1.3298 | 1.2109 | 0.0352 | 1597.1 |
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