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When the reference value is set as 500 and the Kp, Ki, and Kd values are taken by execution of iterations in GA, then the error is minimized and the displacement is settled at the reference value in the output as shown in Figures 2.14a, b and c.

The Kp, Ki, and Kd values obtained by GA are 0.221923828125,1.32339 6901967211, and 0.12735267270242523.