Fig. 2.

Time profiles of components in each homeostat for an unchallenged system. The monitored variable (v1, v2, v3), instantaneous absolute error, as well as the primary and compensatory effectors (kpi, kci) are presented for each homeostat. These profiles were generated after initializing the system with the parameters in Table 1 and letting ${\varphi }_{h1}=1.64and{\varphi }_{h3}=0\text{,}$ thus providing the system with the optimal phase difference according to Table 2. Error is denoted e elsewhere in the text. The notation Error and Eff are included here for clarity, in order to distinguish between error generation and effector action.