Figure 3. Simulations indicate adaptive weighting strategy significantly improves overall target tracking performance.

(A–E) Control input dosing regimens for the matched (S_K) and mismatched (S_Z and S_L) single-model controllers and the multiple-model controllers with fixed equal weights (M_eq) and with adaptive Akaike weights (M_aw). (F) Akaike weights for M_aw. (G) Target trajectory (solid black) and simulated system (Model K) responses controlled by S_K (dashed red), S_Z (dotted blue), S_L (dotted green), M_eq (dashed cyan) and M_aw (solid magenta). (H) The squared error values for all five controllers.