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Table 2 The estimated parameters of two simulations for IUKF algorithm

From: A modified particle swarm optimization algorithm for parameter estimation of a biological system

True parameters α i g i1 g i2 g i3 g i4 β i h i1 h i2 h i3 h i4 RMSE
IUKF noise free measurement 0.5698
x 1 20.4897 0 0 −0.3092 0 10.488 0.9954 0 0 0
x 2 7.5180 1.5027 0 0 0 3.4884 0 1.7552 0 0
x 3 3.4989 0 1.7556 0 0 2.4842 0 0 1.5019 0.7053
x 4 2.4902 0.9887 0 0 0 6.4926 0 0 0 1.294
IUKF noisy measurement with SNR 20 0.6853
x 1 19.6459 0 0 −0.1437 0 9.643 1.6490 0 0 0
x 2 9.1521 1.1415 0 0 0 3.6681 0 1.4249 0 0
x 3 3.6506 0 1.8956 0 0 3.6517 0 0 1.1638 0.8546
x 4 2.6518 1.6585 0 0 0 7.6445 0 0 0 1.4447