Table 2: Performance evaluation for subchannel experiment.

𝑉 𝑑 (r/s) 1 5 10 20 40 50
HRSM
PID
PIDHRSM
PID
PIDHRSM
PID
PIDHRSM
PID
PIDHRSM
PID
PID

Lower quartile0.04750.15750.180.22750.250.320.30.35750.320.42750.35750.48
Median0.060.1750.20.2450.2650.330.320.3750.330.430.380.5
𝑡 𝑠 (s)Upper quartile0.07250.1850.220.25250.2850.35250.340.3850.35250.45250.40.54
Average0.0610.1750.2010.2460.2720.3350.3240.370.3360.4390.3790.506
Variance0.0003090.0004450.0003690.0004840.0004960.0004450.0003840.000520.0005240.0005890.0006090.000964

Lower quartile0.060.0950.03750.16750.040.160.020.05750.01750.040.010.03
Median0.080.120.040.1850.0550.190.040.0750.020.0450.020.04
𝜎 (r/s)Upper quartile0.10.140.060.2250.07750.220.050.10.040.060.0250.0525
Average0.0790.120.0490.1950.110.1920.0380.0770.0240.0490.0210.045
Variance0.0004490.000640.0004490.0011650.0270.0007360.0001760.0005010.0001240.0002490.0001090.000225

Lower quartile0.050.080.080.2150.060.1950.040.080.030.060.020.0475
Median0.060.1050.10.2450.080.220.050.10.040.0650.0350.06
| e s s | (r/s)Upper quartile0.0850.120.12750.25250.0850.25750.06250.120.0450.080.040.08
Average0.0680.1020.1030.2370.0780.2250.0520.0990.040.0660.0330.063
Variance0.0005760.0006560.0009210.0010210.0003760.0017050.0002560.0006090.000140.0001440.0001810.000321