FIGURE 8.

Summary of performance of closed-loop controllers. The normalized mean error (±std), normalized mean power consumed (±std) and suppression efficiency (±std), averaged across ten 30 s simulations with ten independent beta modulation signals, of each closed-loop controller is presented. The mean error and mean power consumed are normalized against the mean error and mean power consumed when DBS is off or applied in open-loop with 2.5 mA amplitude, 130 Hz frequency and 60 μs pulse duration for each cortical beta modulation signal. The PI frequency controller performed best overall with a suppression efficiency of 12.5%/μW, reducing the mean error by 83% and the mean power consumed during stimulation by 75%.