Number of experiments

1

2

3

4

Controller

On-off

PID

RBF-PID

e-RBF-PID

Heating process

Settling time [s]

N/A

389

436

340

Unsteady-state energy Eus [kWh]

3.42 × 10−3

3.19 × 10−3

3.42 × 10−3

3.06 × 10−3

Maintenance

process

Length of steady-state period tss [s]

N/A

111

64

160

Steady-state energy Ess [kWh]

N/A

4.25 × 10−4

2.43 × 10−4

6.23 × 10−4

Steady-state energy intensity EIss [kW]

N/A

3.83 × 10−6

3.80 × 10−6

3.89 × 10−6

Absolute mean

static error [˚C]

N/A

0.44

0.30

0.38