Optimal Tuning of Digital PID Controllers for Commercial BLDC Motors Using the Nelder–Mead Method

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Performance comparison between the initial and optimised PID controllers at a speed of 900 rpm_

Controller	Rise time (s)	Settling time (s)	Overshoot (%)
Initial PID controller	3.5867	6.3841	0.1332
Optimised PID controller	1.3312	2.4900	0.2745

Performance comparison between the initial and optimised PID controllers at a speed of 500 rpm_

Controller	Rise time (s)	Settling time (s)	Overshoot (%)
Initial PID controller	3.5867	6.8628	0.0899
Optimised PID controller	1.6477	2.8985	0.6736

Performance comparison between the initial and optimised PID controllers at a speed of 700 rpm_

Controller	Rise time (s)	Settling time (s)	Overshoot (%)
Initial PID controller	3.7983	6.5593	0.4619
Optimised PID controller	1.6200	3.8898	0.2130