Figure 3.

Different responses to load disturbances and set-point changes. The simulations were 300 s long, with an external disturbance/different target velocity introduced at $t=150$ s. Here we report only a 20 s time window around the change in conditions. (a) The same load disturbance ($v=3.0$ km/h${}^2$) is applied with varying expected process precisions ${\pi }_{\tilde{w}}$ where ${\pi }_w=\{exp(-24),exp(-22),exp(-20)\}$. Expected sensory log-precisions ${\pi }_{\tilde{z}}$ are fixed over the duration of the simulations, with ${\mu }_{{\gamma }_z}=1$; (b) A similar example for changes in the target velocity of the car, from ${\eta }_x=13$ km/h to ${\eta }_x=10$ km/h, tested on varying expected process precisions ${\pi }_{\tilde{w}}$ where ${\pi }_w=\{exp(-24),exp(-22),exp(-20)\}$.

.5	.5
(a)	(b)