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Integral absolute error (IAE) values for all the case studies.
| Process | Case study | IAE (NNARX) | IAE (PI) |
|---|---|---|---|
| Fermentation process | Setpoint tracking | 4.926 | 6.688 |
| Modeling error | 21.25 | 1.62 | |
| Neutralization process | Setpoint tracking (Level) | 248.5 | 764.2 |
| Setpoint tracking (pH) | 323.4 | 1095 | |
| Disturbance rejection (Level) | 9.962 | 0.1639 | |
| Disturbance rejection (pH) | 8.398 | 0.0544 |
