Table 6. The noise-free Mackey–Glass chaotic time-series prediction (τ = 13, 30, 100).

Model		RMSE for τ = 13	RMSE for τ = 30	RMSE for τ = 100
1	FJWNN	7.5140e-4±1.419e-4	0.0975±0.0059	0.1564±0.0165
2	ANFIS [30]	2.0196e-4	0.1792	0.4678
3	IT2FNN [28]	2.0014e-4	0.1165	0.2132

FJWNN, Fuzzy jump wavelet neural network; ANFIS, Adaptive neuro-fuzzy inference system; IT2FNN, Interval type-2 fuzzy neural networks, Root mean square error; τ, Chaotic degree;