Fig. 4

Histogram of the benefit \(\mathcal {B}= \text {MSE}(\mathcal {M}_{\text {REG}}) - \text {MSE}(\mathcal {M}_{\text {GA}})\) computed over 100,000 realizations for system (31) and (32) with T=100 time steps and N=5 measurements. The histogram approximates the probability density function of the benefit. The red vertical line indicates a null benefit. The mean and standard deviation of the benefit are 0.12±0.38 and the benefit is positive in 64% of the realizations