Table 9. PID Results optimized by some algorithms.

Variables	CLPSO [10]	ECLPSO [33]	LILPSO2
Kp	3.0934	2.719	4.402
Ki	17.2368	16.817	24.58
Kd	0.042	6.13E−05	0.0964
overshoot	10.79%	11.75%	9.90%
Mean error	0.0099	0.0101	0.0079
T	2261	2267	2218