Table 5.

Performance comparison of the different algorithms in presence of FOPPI controller.

Algorithm	${\mathit{K}}_{\mathit{p}}$	${\mathit{K}}_{\mathit{i}}$	$\mathit{\lambda }$	${\mathit{t}}_{\mathit{r}}$	${\mathit{t}}_{\mathit{s}1}$	${\mathit{t}}_{\mathit{s}2}$	%OS	ITAE
Analytical Design	1.150	0.842	0.98	0.7665	83.0137	280.4273	22.2290	3.7159
AOA	2.167	1.197	0.97	0.8543	75.8397	276.7360	18.0314	2.8243
ATOAs	1.987	1.056	0.99	1.0638	65.8043	261.9294	3.3561	1.7391
ATOAc	1.793	0.692	0.99	2.1729	72.1039	268.9153	2.8020	2.2007
ATOAt	1.983	0.592	0.98	0.9579	77.8114	274.0171	3.1546	2.6376
ATOAsc	2.321	1.025	0.99	0.8301	69.5402	264.9950	3.6644	2.0154
ATOAcs	1.321	0.897	0.98	2.4432	61.3744	257.7074	5.4593	1.4224