Table 7: response criteria and ISE values for PI - ZN, PI + FF and MPC.

Control method Settling time (s) Overshoot (%) Steady state error Rise time (s) ISE values
PI - ZN 17.00 8 -0.80 5.00 61.04
PI + FF 7.00 1 0.10 3.50 49.57
MPC 4.00 0 0.00 1.60 21.19