Table 1.

Joint models fit in simulation study.

Model	Baseline hazard	Transition intensity ∀ j → k	Label
Markov λjk(t|X	Parametric	${\lambda }_{\mathit{\text{jk}},0}^W(t)\text{exp}\{{\alpha }_{\mathit{\text{jk}}}X\}$	(MM)
	Semi-parametric	${\lambda }_{\mathit{\text{jk}},0}^{\mathit{\text{Cox}}}(t)\text{exp}\{{\alpha }_{\mathit{\text{jk}}}X\}$	(MMCox)
Markov, V*λjk(t|X,V*)	Parametric	${\lambda }_{\mathit{\text{jk}},0}^W(t)\text{exp}\{{\alpha }_{\mathit{\text{jk}}}X+\gamma V^{\ast }\mathbf{1}(j=1,k=2)\}$	(MSM)
	Semi-parametric	${\lambda }_{\mathit{\text{jk}},0}^{\mathit{\text{Cox}}}(t)\text{ exp}\{{\alpha }_{\mathit{\text{jk}}}X+\gamma V^{\ast }\mathbf{1}(j=1,k=2)\}$	(MSMCox)
Semi-Markov λjk(t|X,V*)	Parametric	${\lambda }_{\mathit{\text{jk}},0}^W(t)(t-V^{\ast }\mathbf{1}(j=1,k=2))\text{ exp}\{{\alpha }_{\mathit{\text{jk}}}X\}$	(SMM)