Table 1.

Comparison of median parameter errors for the branched pathway case study

Median parameter error a (%)	Noise-free data b			Noisy data c
	(s,o)=(3,3)	(s,o)=(5,3)	(s,o)=(3,5)	(s,o)=(3,3)	(s,o)=(5,3)	(s,o)=(3,5)
SPE-slope	51.9	14.1	46.3	68.8 ± 19.4	81.2 ± 9.6	93.4 ± 7.4
IPE-slope	103	59.4	59.8	87.9 ± 4.3	68.6 ± 27.5	58.0 ± 21.6
IPE-ODE	50.0	19.7	7.74	90.9 ± 14.7	76.6 ± 35.6	71.1 ± 27.1
SPE-ODE	11.4 d			37.9 ± 11.5
IFPE	0.276			66.9 ± 32.5
IFPE-ODE	0.746			70.0 ± 31.6

^aThe median is taken over 13 parameters in the branched pathway model.

^bFor noise-free data, five independent runs were carried out. The median parameter error corresponds to the run with the lowest objective function value.

^cFor noisy data, the reported values are the mean ± standard deviation of five technical replicates of the data.

^dOnly three out of five repeated runs finished within 24 hours. The median parameter error is reported for the parameter estimate corresponding to the lowest objective function value among the three successful runs.