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| Closed-Loop Class | Criteria | Controller | Improvement |
| Inhibition | Average Error | Supervised LQR | +22.6% |
| Supervised MPC | +23.0% | ||
| Control Effort | Supervised LQR | -35.4% | |
| Supervised MPC | +7.6% | ||
| Excitation | Average Error | Supervised LQR | +5.4% |
| Supervised MPC | +20.4% | ||
| Control Effort | Supervised LQR | -0.0% | |
| Supervised MPC | +32.9% |
