Table 5.

Gain values for different control schemes

Loop	Output parameter	Gain parameters	PID + switching	BFO + switching
				Lower boundary	Calculated gain	Upper boundary
Loop 1	$\mathit{\theta }$	Kp 1	80	−50	−1.733	50
		Kd 1	9	−10	−0.0693	10
		Ki 1	0.02	−0.1	0.0835	0.1
Loop 2	${\mathit{\delta }}_{\text{R}}$	Kp 2	80	−20	10.255	20
		Kd 2	75	−20	0.016	20
		Ki 2	0.05	−20	15.05	20
Loop 3	${\mathit{\delta }}_{\text{L}}$	Kp 3	80	−20	10.255	20
		Kd 3	75	−20	0.016	20
		Ki 3	0.05	−20	15.05	20
Loop 4	$h_1$	Kp 4	8	−20	10.3279	20
		Kd 4	10	−10	7.3378	10
		Ki 4	0.01	−0.1	0.013	0.1
Loop 5	$h_2$	Kp 5	27	−60	50.1502	60
		Kd 5	32	−50	30.7237	50
		Ki 5	0.05	−0.1	0.027	0.1