## 4 Experiments
### Power Consumption and Regeneration
The FIS controller has a constant  
\begin{table}
\begin{tabular}{c c c c c c c c c} \hline \hline \(L_{s}\) **Time Interval** & \(\hat{x}_{i}\) & \multicolumn{3}{c}{**Mechanical**} & \multicolumn{3}{c}{**Electrical**} & \multicolumn{3}{c}{\(\eta_{mot}\)} \\ \([\mathbf{s}]\) & \(\mathbf{Interval}\) & \(\overline{P}_{met}\) & \(\overline{P}_{reg}\) \([\mathbf{k}\mathbf{W}]\) & \(\overline{P}_{r}\) \([\mathbf{\%}]\) & \(\overline{P}_{ret}\) \([\mathbf{k}\mathbf{W}]\) & \(\overline{P}_{reg}\) \([\mathbf{k}\mathbf{W}]\) & \(\overline{P}_{r}\) \([\mathbf{\%}]\) & \(\eta_{reg}\) \([\mathbf{\%}]\) \\ \hline \multirow{4}{*}{\((0,10)\)} & \([0,5)\) & 21.48 & 12.78 & 59.13 & 25.76 & 10.61 & 40.35 & 83.38 & 83.04 \\  & \([5,10)\) & 23.96 & 9.78 & 37.77 & 28.15 & 8.23 & 26.90 & 85.10 & 84.15 \\  & \([10,13]\) & 21.69 & 6.26 & 26.58 & 25.10 & 5.29 & 19.32 & 86.43 & 84.54 \\ \hline \multirow{4}{*}{\([10,16]\)} & \([0,5)\) & 16.10 & 5.19 & 34.47 & 19.51 & 3.97 & 21.68 & 82.53 & 76.55 \\  & \([5,10)\) & 16.74 & 10.35 & 61.85 & 20.22 & 8.14 & 40.03 & 82.79 & 78.72 \\  & \([10,13]\) & 18.27 & 17.21 & 90.77 & 21.88 & 13.86 & 60.57 & 83.48 & 80.55 \\ \hline \multirow{4}{*}{\((16,20]\)} & \([0,5)\) & 15.04 & 5.02 & 33.39 & 18.03 & 3.65 & 20.25 & 83.43 & 72.71 \\  & \([5,10)\) & 15.02 & 6.66 & 44.29 & 17.97 & 4.97 & 27.65 & 83.60 & 74.65 \\  & \([10,13]\) & 14.94 & 8.68 & 58.38 & 17.90 & 6.65 & 37.35 & 83.45 & 76.65 \\ \hline \multirow{4}{*}{\((20,30)\)} & \([0,5)\) & 17.20 & 8.20 & 47.36 & 20.52 & 6.07 & 29.36 & 83.80 & 74.01 \\  & \([5,10)\) & 18.38 & 8.91 & 48.36 & 21.98 & 6.59 & 29.89 & 83.61 & 73.91 \\  & \([10,13]\) & 19.82 & 8.08 & 41.23 & 23.77 & 6.13 & 26.08 & 83.35 & 75.97 \\ \hline \multirow{4}{*}{\((30,40]\)} & \([0,5)\) & 19.38 & 2.03 & 10.34 & 22.28 & 1.59 & 6.89 & 84.85 & 78.16 \\  & \([5,10)\) & 21.42 & 6.96 & 32.29 & 25.04 & 5.42 & 21.39 & 85.56 & 77.91 \\ \cline{1-1}  & \([10,13]\) & 23.79 & 7.27 & 30.20 & 27.82 & 5.85 & 20.65 & 85.52 & 80.52 \\ \hline \multirow{4}{*}{Average} & & 18.88 & 8.22 & 43.76 & 22.39 & 6.46 & 28.55 & 84.05 & 78.13 \\ \cline{1-1} \cline{2-11} \clinepower consumption, but a growing regeneration rate as in the rule-based system. \(\overline{P}_{r}\) is ten times greater during slow, more than double for medium, and almost double for high \(\dot{x}_{i}\). The motoring efficiency is kept constant for each system with a higher value for the FIS. The efficiency for regeneration power is consistent for low and medium speeds and greater for high speeds for the rule-based system, whereas the FIS continuously increases. The rule-based system has a continuously increasing power consumption and regeneration during the initial red light phase or \(t=(20,30]\), \(L_{s}\in\) red. Slow initial speeds cause little regeneration due to CC as in \(L_{s}\in\) yellow. Similarly, the faster the vehicle starts navigating, the greater a negative throttle should be applied to start CC, causing the increment of \(\overline{P}_{r}\) from below 5% to above one-fifth of the electric motoring power. The FIS power consumption increments slowly, but the regeneration is almost constant. This implies a \(\overline{P}_{r}\) of almost one-third of the consumed electric power. The value of \(\eta_{mot}\) is very near in the rule- and FIS controllers, whereas there is a higher efficiency in \(\eta_{reg}\) of the rule-based system. Finally, the rule-based controller exhibits a similar behavior to the previous stage for the late red light or \(t=(30,40],L_{s}\in\) red. This applies to \(\overline{P}_{r}\), \(\eta_{mot}\) and \(\eta_{reg}\). The FIS has a different performance. This time, its power consumption as well as the regeneration increment slowly. However, a small reduction in the restored power can be noted at high speeds. Motoring and regeneration efficiencies are higher when compared with the previous stage but smaller than for the rule-based ones. The difference in the success rate of both navigation systems is not significant. Both are close to 96%.