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PID gains obtained from various algorithms.
| Controller type | Proportional gain (Kp) | Integral gain (Ki) | Derivative gain (Kd) |
|---|---|---|---|
| Rat swarm optimization (proposed algorithm) | 1.456 | 2.158 | 0.451 |
| Firefly algorithms26 | 5.7586 | 4.5378 | 1.5689 |
| Ziegler-Nichols closed loop method | 3.5916 | 7.172 | 0.45 |
