Hammerstein Box-Jenkins System Identification of the Cascaded Tanks Benchmark System

Table 1

The orders of the plant model vs. the nonlinearity and the resulted mean square error (MSE).

Linear plant order	Nonlinearity order	MSE
1	0	3.0031
1	1	0.0099
1	2	0.0093
1	3	0.0092
1	4	0.009
2	3	0.0073
3	3	0.0087