Modeling, Identification and Control of Irrigation Station with Sprinkling: Takagi-Sugeno Approach - Complex System Modelling and Control Through Intelligent Soft Computations - page 479

1 ; s ¼ 0

r ^ ¼ et ^ r ue ð s Þ ¼ 0 ; 8 s ð 34 Þ

0 ; s 6 ¼ 0

Typically, we veried that the functions r are zero for the interval s 2 20 ; 20 ½

with a con dence interval of 95 %, then:

96
p \ ^

1 : 1 96

p :

:

r ð 35 Þ

\

3.6 Results of Validation Tests

￿ Root Mean Square Error test (RMSE):

(

RMSE pressure ¼

:

0 1471

ð 36 Þ

RMSE flow ¼ 0 : 1926

￿ Variance accounting for test (VAF):

VAF pressure ¼ 99 : 6090 %

ð 37 Þ

VAF flow ¼ 99 : 3272 %

￿ Autocorrelation and cross-correlation function results (Figs. 13 and 14 ):

Fig. 13 Validation results autocorrelation and cross-correlation of pressure output