Results of simulation v-b-54 . (a) Native MAP offset component p0(t) (blue) and controlled MAP output ymeas(t) (red); the dotted lines indicate the ±10 mmHg allowed error range. (b) Real value of K(t) (red) and mean particle estimate (solid white) superimposed on particle density map; the dashed white lines indicate the 15th and 85th percentile of the particle distribution. (c) Subinterval probability results, the superimposed numbers indicate the controller with the greatest probability. (d) Infusion rate signal u(t).