Figure 1

Comparison of model-free prediction effect between optimal parameters (red dashed line) based on SADE algorithm, empirical parameters (purple dash-dot line) and random parameters (cyan dotted line) for Hénon (a), Ikeda (b), Chua (c), PLUC (d), Lorenz (e) and Rössler (f) chaotic systems. Here the cyan, purple, red solid vertical lines represent the prediction time (or step) span respectively for random, empirical and optimal parameters at the same square mean error listed in Table 1.