Computer simulation results of three adaptive and PID controllers with a blood perfusion rate from 2.0 kg/m3s to 10.0 kg/m3s during the simulated hyperthermia process. (a) Temperature elevation and reference temperature trajectory. Detailed results of rise time, overshoot temperatures, and steady-state errors are listed in Table 2. (b) Electrical power transmitted from the amplifier as a function of time for the Lyapunov-based MRAC, MIT rule-base MRAC, STR, and PID control methods. [Color figure can be viewed in the online issue, which is available at www.interscience.wiley.com.]