Modified nondominated sorting genetic algorithm-based multiobjective optimization of a cross-coupled nonlinear PID controller for a Twin Rotor System

Journal of Engineering and Applied Science

Table 3 Performance comparison of the best optimal parameter value for the designed cross-coupled nonlinear PID controller with various other algorithms

Parameter		DSA	PSO	RGA	CGSA 9	CGSA 10	NGSA	MNGSA	FIPSO [26]	MOGA [27]
Best optimal parameter	K_p	4.44	5.00	4.78	4.01	4.09	3.51	3.50	4.85	11.646
	K_i	3.02	5.00	4.40	4.99	5.00	4.89	3.77	3.49	19.25
	K_d	5.00	2.17	2.66	5.00	5.00	4.98	4.70	4.04	33.01