“…All the experimental investigations are implemented using MATLAB software and the experimental result of this study confirmed that, even though there is a considerable difference in reference tracking with 1DOF and 2DOF structures, the disturbance rejection operation seems to be identical for both the controller structures. The result of this research work confirms that the proposed controller helps to achieve a better result compared to the PID designed using Genetic-Algorithm (GA), Particle-Swarm-Optimization (PSO), Bacterial-Foraging (BFO), Firefly-Algorithm (FA), Bat-Algorithm (BBA) and Jaya-Algorithm (JA) [22,23].…”