## 4 Experimental Evaluation
The FOPID coefficients used in the control of the movement on the \(X\) axis are P = 35.501, I = 95.005, D = 1.409, \(\lambda\  
Table 4 shows the numerical details of the performance of the controllers developed with PO-based FOPID and SDCS methods on the \(Y\) axis. Figure 10 includes the graph of the performances of the developed controllers on the \(Y\) axis. The FOPID coefficients used in control of the movement on the \(Y\) axis are P = 40.053, I = 94.899, D = 1.342, \(\lambda\) = 1.030, and \(\mu\) = 0.970. Table 5 shows the numerical details of the performance of the controllers developed with PO-based FOPID and SDCS methods on the \(Z\) axis. Figure 11 includes the graph of the performances of the developed controllers on the \(Z\) axis. The FOPID coefficients used in the control of the movement on the \(Z\) axis are P = 99.521, I = 0.845, D = 16.765, \(\lambda\) = 1.499, and \(\mu\) = 0.989. \begin{table}
\begin{tabular}{c c c} \hline
**Performance Criteria** & **PO-FOID** & **SDCS** \\ \hline Tr (s) & 1.886 & 1.400 \\ Tp (s) & 2.594 & 1.400 \\ Mp (\%) & 0.875 & 0 \\ Ts (s) & 2.594 & 1.400 \\ Ess (\%) & 0.202 & 0 \\ \hline \end{tabular}
\end{table} 
Table 4: Performance of the developed controllers on \(Y\) axis. Figure 10: Graph of controller performances on \(Y\) axis. \begin{table}
\begin{tabular}{c c c} \hline
**Performance Criteria** & **PO-FOID** & **SDCS** \\ \hline Tr (s) & 4.602 & 3.594 \\ Tp (s) & 8.607 & 3.594 \\ Mp (\%) & 0.401 & 0 \\ Ts (s) & 8.607 & 3.594 \\ Ess (\%) & 0.401 & 0 \\ \hline \end{tabular}
\end{table} 
Table 5: Performance of the developed controllers on \(Z\) axis. Table 6 shows the numerical details of the performance of the controllers developed with PO-based FOPID and SDCS methods on the Phi angle. Figure 12 includes the graph of the performances of the developed controllers on the Phi angle. The FOPID coefficients used in the control of the movement on the Phi angle are P = 10.000, I = 0.022, D = 0.993, \(\lambda\) = 1.024, and \(\mu\) = 1.005. \begin{table}
\begin{tabular}{c c c} \hline \hline
**Performance Criteria** & **PO-FOID** & **SDCS** \\ \hline Tr (s) & 0.637 & 0.580 \\ Tp (s) & 0.705 & 0.580 \\ Mp (\%) & 0.021 & 0 \\ Ts (s) & 0.637 & 0.580 \\ Ess (\%) & 0.006 & 0 \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Performance of the developed controllers on Phi angle. Figure 11: Graph of controller performances on \(Z\) axis. Figure 12: Graph of controller performances on Phi angle. Table 7 shows the numerical details of the performance of the controllers developed with PO-based FOPID and SDCS methods on the Theta angle. Figure 13 includes the graph of the performances of the developed controllers on the Theta angle. The FOPID coefficients used in the control of the movement on the Theta angle are P = 10.000, I = 0.011, D = 0.966, \(\lambda\) = 1.013, and \(\mu\) = 1.002. Table 8 shows the numerical details of the performance of the controllers developed with PO-based FOPID and SDCS methods on the Psi angle. Figure 14 includes the graph of the performances of the developed controllers on the Psi angle. The FOPID coefficients used in the control of the movement on the Psi angle are P = 9.998, I = 0.009, D = 0.615, \(\lambda\) = 1.022, and \(\mu\) = 0.998. \begin{table}
\begin{tabular}{c c c} \hline
**Performance Criteria** & **PO-FOPID** & **SDCS** \\ \hline Tr (s) & 0.623 & 0.580 \\ Tp (s) & 0.672 & 0.580 \\ Mp (\%) & 0.020 & 0 \\ Ts (s) & 0.672 & 0.580 \\ Ess (\%) & 0.003 & 0 \\ \hline \end{tabular}
\end{table} 
Table 7: Performance of the developed controllers on Theta angle. Figure 13: Graph of controller performances on Theta angle. \begin{table}
\begin{tabular}{c c c} \hline
**Performance Criteria** & **PO-FOPID** & **SDCS** \\ \hline Tr (s) & 0.581 & 0.581 \\ Tp (s) & 0.609 & 0.581 \\ Mp (\%) & 0.010 & 0 \\ Ts (s) & 0.581 & 0.581 \\ Ess (\%) & 0.003 & 0 \\ \hline \end{tabular}
\end{table} 
Table 8: Performance of the developed controllers on Psi angle.