Table 1 Error integrator index.

ISE=\(\int _{0}^{t}{e^2dt}\)

Fast response, large overshoot, poor stability.

IAE=\(\int _{0}^{t}{ | e | dt}\)

Focuses on late response error, less consideration of pre-response errors.

ITSE=\(\int _{0}^{t}{t \cdot e^2dt}\)

Excellent transient responsiveness, but unfavorable for parameter differentiation

ITAE=\(\int _{0}^{t}{t \cdot |e | dt}\)

Low transient response oscillation, but no distinction is made between overshoot and error.