Table 2.

Specifications and statistics between the top performing trained RBF networks.

	Parameter	Fuzzy Partition	RBF Kernel Centers	RMSE Validation	R2 Validation	Training Time 1 (s)
System
DC Motor		[18 23 32]	242	9.7	0.93	398
		[16 23 30]	210	9.8	0.93
		[21 23 25]	227	9.8	0.92
		[21 27 28]	270	10.0	0.90
		[15 24 18]	199	10.3	0.89
Inverted Pendulum		[35 32 40 40]	189	0.48	0.98	912
		[32 30 40 35]	173	0.50	0.97
		[30 32 38 36]	179	0.50	0.97
		[36 32 37 36]	180	0.52	0.96
		[31 27 32 35]	151	0.56	0.91

Bold numbers indicate the best model found for each system; ¹ training was performed on a PC with an Intel i7 processor at 2.10 GHz and 8 GBs of memory.