Table 3.

The Experimental Results of Rise Time, Overshoot, and Steady-State Errors by Examining the Variation of One MRAC Control Variable at a Time for Adaptive MRI Thermal Feedback Control of Ultrasound Hyperthermia

	Control Parameters			Experimental Results Summary
Exp. No.	Time Constant (Min)	Adaptation Gain	Initial Values	Rise Time (Min)	Overshoot (°C)	Steady-State Error (°C)
1	4τ = 3	0.005	Optimized value	3 ± 0.5	1.9 ± 0.6	1.8 ± 0.5
	4τ = 8	0.005	Optimized value	8 ± 0.5	1.3 ± 0.3	1.5 ± 0.6
2	4τ = 7.8	0.005	Optimized value	8.1 ± 0.5	1.3 ± 0.3	1.5 ± 0.5
	4τ = 7.8	0.015	Optimized value	7.85 ± 0.5	1.5 ± 0.4	1.5 ± 0.5
3	4τ = 6	0.005	Zero	12 ± 0.5	5.2 ± 0.6	3.5 ± 0.5
	4τ = 6	0.005	Optimized value	6 ± 0.5	1.1 ± 0.3	1.5 ± 0.6

For each experiment (i.e., 1, 2, or 3), the control parameter under investigation is marked as bold.