New dynamic error spectrum for performance evaluation

In performance evaluation, the widely used root-mean-square error is easily affected by large error terms and is also an incomprehensive measure. Therefore, the error spectrum as a comprehensive measure was proposed for parameter estimation. However, error spectrum (ES) is a three-dimension plot (among ES, r axis and time t axis) in the whole time horizon in dynamic evaluation system, which is not intuitive and easy to be analyzed. To smooth this, a new dynamic error spectrum (NDES) is proposed in dynamic evaluation system in this paper. Firstly, the NDES is defined for EPE in dynamic systems. Secondly, the computation method is proposed to calculate the NDES. Thirdly, several nice properties of NDES are presented for dynamic system performance evaluation. Finally, the effectiveness of the proposed new dynamic error spectrum is verified by a numerical example.