Table 1: Slope error , change in slope error , and change in duty cycle of the 12 categories.

Category numberSlope error category e Slope error change category Duty cycle step size

1 −0.01
2 −0.02
3 −0.05
4 −0.01
5 −0.02
6 −0.05
7 0.02
8 0.03
9 0.05
10 0.02
11 0.03
12 0.05