Fig 6. Performance indicators of three STM-based controllers.

P₁₀ is a partially-connected STM-based controller of N = 10 states, evaluated on 6 sheep for 13 different targets. P₃₀ is a partially- connected STM-based controller of N = 30 states, evaluated on 7 sheep for 10 different targets. F₃₀ is a fully-connected STM-based controller of N = 30 states evaluated on the same 7 sheep for the same 10 targets. The three controllers were used on sheep anesthetized by etomidate. Most of the sheep used in the experimental protocol P₁₀ are different from the sheep used in the control tests of the P₃₀ and F₃₀ controllers. The sheep involved in the P₃₀ and F₃₀ protocols were the same. p-values are calculated between the three controllers. In the box plots, the dotted lines represent a Wilcoxon unpaired test and the solid line represents a Wilcoxon paired test. * denotes P < 0.05, and ** denotes P < 0.01.