Number of experiments

5

6

7

8

Controller

On-off

PID

RBF-PID

e-RBF-PID

Heating process

Settling time [s]

N/A

435

N/A

272

Unsteady-state energy E_us [kWh]

5.63 × 10⁻³

5.37 × 10⁻³

4.80 × 10⁻³

3.84 × 10⁻³

Maintenance process

Length of steady-state period t_ss [s]

N/A

65

N/A

228

Steady-state energy E_ss [kWh]

N/A

3.45 × 10⁻⁴

N/A

1.19 × 10⁻³

Steady-state energy intensity EI_ss [kW]

N/A

5.31 × 10⁻⁶

N/A

5.22 × 10⁻⁶

Absolute mean

static error [˚C]

N/A

0.37

N/A

0.19