Figure 4
Two-step (left) and three step (right) piecewise constant EG addition procedures as a function of the goal state concentration sf/ wf. The toxicity cost Jα at the end of the procedure, the EG concentration in each step of the procedure and the duration of each step are shown. Symbols show predicted values and the lines are provided to guide the eye. The colors blue, green and red represent steps 1, 2 and 3 respectively.