Table 3.

Compare the ASSREs of different models when solving the QR problem.

$ϵ(t)$	Model	ASSRE with NF	ASSRE with CN	ASSRE with PN	ASSRE with RN
${ϵ}_1(t)$	OZND	$9.46\times {10}^{-4}$	$2.66\times {10}^2$	$6.4\times {10}^1$	$3.20\times {10}^2$
	NZND	$8.24\times {10}^{-6}$	$7.09\times {10}^0$	$6.47\times {10}^0$	$7.19\times {10}^0$
	VPZND	$2.75\times {10}^{-6}$	$7.81\times {10}^{-2}$	$5.07\times {10}^{-2}$	$5.07\times {10}^{-2}$
	NTZND	$2.73\times {10}^{-2}$	$7.29\times {10}^{-1}$	$1.26\times {10}^0$	$7.97\times {10}^{-1}$
	DPZND	Divergent	Divergent	Divergent	Divergent
	DVPEZND	Divergent	Divergent	Divergent	Divergent
	AREND	$\mathbf{2.62}\times {\mathbf{10}}^{-\mathbf{6}}$	$\mathbf{4.29}\times {\mathbf{10}}^{-\mathbf{2}}$	$\mathbf{4.01}\times {\mathbf{10}}^{-\mathbf{2}}$	$\mathbf{4.01}\times {\mathbf{10}}^{-\mathbf{2}}$
${ϵ}_2(t)$	OZND	$6.43\times {10}^{-4}$	$3.99\times {10}^2$	$9.13\times {10}^1$	$4.83\times {10}^2$
	NZND	$1.43\times {10}^{-5}$	$8.26\times {10}^0$	$7.97\times {10}^0$	$8.55\times {10}^0$
	VPZND	$2.25\times {10}^{-6}$	$6.59\times {10}^{-2}$	$7.39\times {10}^{-2}$	$7.40\times {10}^{-2}$
	NTZND	$1.33\times {10}^{-2}$	$1.75\times {10}^0$	$1.92\times {10}^0$	$2.17\times {10}^0$
	DPZND	Divergent	Divergent	Divergent	Divergent
	DVPEZND	Divergent	Divergent	Divergent	Divergent
	AREND	$\mathbf{2.22}\times {\mathbf{10}}^{-\mathbf{6}}$	$\mathbf{3.30}\times {\mathbf{10}}^{-\mathbf{2}}$	$\mathbf{1.67}\times {\mathbf{10}}^{-\mathbf{2}}$	$\mathbf{1.67}\times {\mathbf{10}}^{-\mathbf{2}}$

NF, CN, PN, and RN signify the noises free, constant noises, period noises, and random noises, respectively. The bold font denotes the best result in the corresponding item