Figure 1.
Block diagram of the STC method
Figure 2.
Simulation results of the first practice of the first scenario
Figure 3.
Simulation results of the second practice of the first scenario
Figure 4.
Simulation results of the third practice of the first scenario
Table 1.
Parameters in different practices of the first scenario
| Practices | Parameters Selected by the User | Parameters Calculated by the STC Method | Calculated Values of the Cost Functions | |||||
|---|---|---|---|---|---|---|---|---|
| xs | Ts | R | Q | P | JSTC | JLQR | JPID | |
| 1st | 8 | 0.1 | 10 | 13268.90 | 22.31 | 5.11 × 104 | 5.11 × 104 | 5.70 × 104 |
| 2nd | 0.5 | 0.5 | 1 | 43.47 | 5.991 | 428.9 | 428.9 | 1015.8 |
| 3rd | 0.01 | 1 | 0.1 | 7.63 | 6.908 | 68.08 | 68.08 | 113.57 |
Figure 5.
Simulation results of the first practice of the second scenario
Figure 6.
Simulation results of the second practice of the second scenario
Figure 7.
Simulation results of the third practice of the second scenario
Table 2.
Parameters in different practices of the second scenario
| Practices | Parameters Selected by the User | Parameters Calculated by the STC Method | Calculated Values of the Cost Functions | |||||
|---|---|---|---|---|---|---|---|---|
| xs | Ts | Q | R | P | JSTC | JLQR | JPID | |
| 1st | –1 | 2 | 8.093 | 0.5 | 0.8047 | 263.9 | 263.9 | 513.41 |
| 2nd | –4 | 0.02 | 311206.2 | 100 | 11.16 | 720678.15 | 720678.15 | 1366900 |
| 3rd | –0.01 | 1.5 | 4.291 | 0.01 | 4.143 | 26.53 | 26.53 | 27.1698 |
Figure 8.
Simulation results of the first practice of the third scenario
Figure 9.
Simulation results of the second practice of the third scenario
Figure 10.
Simulation results of the third practice of the third scenario
Table 3.
Parameters in different practices of the third scenario
| Practices | Parameters Selected by the User | Parameters Calculated by the STC Method | Calculated Values of the Cost Functions | |||||
|---|---|---|---|---|---|---|---|---|
| xs | Q | R | Ts | P | JSTC | JLQR | JPID | |
| 1st | 0.5 | 1 | 1 | 0.40 | 2.6 | 0.8997 | 0.8997 | 6.6644 |
| 2nd | 0.01 | 4 | 0.2 | 0.42 | 11.63 | 0.8022 | 0.8022 | 1.4403 |
| 3rd | 1 | 0.04 | 0.2 | 0.35 | 1.163 | 0.08111 | 0.08111 | 1.3284 |
Figure 11.
Simulation results of the first practice of the fourth scenario
Figure 12.
Simulation results of the second practice of the fourth scenario
Figure 13.
Simulation results of the third practice of the fourth scenario
Table 4.
Parameters in different practices of the fourth scenario
| Practices | Parameters Selected by the User | Parameters Calculated by the STC Method | Calculated Values of the Cost Functions | |||||
|---|---|---|---|---|---|---|---|---|
| Q | R | Ts | xs | P | JSTC | JLQR | JPID | |
| 1st | 4 | 2 | 3 | –0.23 | 0.8544 | 38.39 | 38.39 | 62.4464 |
| 2nd | 0.01 | 60 | 10 | –1.1 | 0.1003 | 0.4563 | 0.4563 | 102.9896 |
| 3rd | 1 | 1 | 0.01 | –2.982 | 0.6083 | 13.05 | 13.05 | 16.4667 |