Error criterion

dt=0.01; t=0:dt:1; 

yss=0;   y=t;

e = y-yss;             % step response error

%    switch Type

%       case 'ITAE'

%          out = trapz(t,t.*abs(e));

%       case 'IAE'

%          out = trapz(t,abs(e));

%       case 'ISTE'

%          te = t.*e;

%          out = trapz(t,te.*te);

%       case 'ISE'

%          out = trapz(t,e.*e);

Y0 = sum(abs(e));           %   case 'SUM'

y1 = trapz(t,t.*abs(e));     %   case 'ITAE'

y2 = trapz(t,1.*abs(e));    %   case 'IAE'

     te = t.*e;

y3 = trapz(t,te.*te);          %   case 'ISTE'

y4 = trapz(t,e.*e);            %   case 'ISE'

E1=0; E2=0; E3=0; E4=0;

for t=0:dt:1

    tdt=t*dt;

    yd=1*t;

    e=yd-0;

    E1=E1+abs(e)*tdt;

    E2=E2+abs(e)*dt;

    E3=E3+((e*t).^2)*dt;

    E4=E4+((e).^2)*dt;

end

E1

E2

E3

E4