\begin{table*}[t] 
\centering 
\small 
\tabcolsep=0.11cm 
\begin{tabular}{|p{3cm}|c|c|c|c|c|c|c|c|c|c|c|c|c|} 
\hline 
\multirow{2}{*}{\textbf{Benchmark}} &\multirow{2}{*}{	extbf{k}} & \multicolumn{2}{c|}{\textbf{MATISSE}} & \multicolumn{2}{c|}{\textbf{Zhi Han}} & \multicolumn{4}{c|}{\textbf{Mixed bound}} & \multicolumn{4}{c|}{\textbf{Theoretical bound}} \\ 
\cline{3-14} 
&  & {$\delta$} & $t$ & $\delta$ &$N$ & $ e_1 $ & $ e_2 $ & $\delta$ &$t$ & $e_1 $ & $e_2$ & $\delta$ &$t$ \\ 
\hline 
\multirow{2}{*}{\parbox{3cm}{Motor control system (LTI, 8-dimensions, 2 inputs and 2 outputs)}} 
& $5$ 
%Prof Girard : bisimulation method 
& $2.1$ & $0.97$, 
%Zhi Han : simulation-based method 
&$\begin{pmatrix} 0.00 \\ 0.00 \end{pmatrix}$&\multirow{2}{*}{$5$} 
%Our method : mixed bound 
&{$\begin{pmatrix} 0.00015 \\ 0.00034 \end{pmatrix}$} &{$\begin{pmatrix} 0.002 \\ 0.047 \end{pmatrix}$}&{$\begin{pmatrix} 0.0022 \\ 0.047 \end{pmatrix}$}&{$1.1$} 
%Our method : theoretical bound 
&{$\begin{pmatrix} 0.0098 \\ 0.0093 \end{pmatrix}$} &{$\begin{pmatrix} 0.53 \\ 0.53 \end{pmatrix}$}&{$\begin{pmatrix} 0.54 \\ 0.54 \end{pmatrix}$}&{$0.15$} \\ 
\hline 
& $4$ 
%Prof Girard : bisimulation method 
& $1.5$ & $0.86$, 
%Zhi Han : simulation-based method 
&$\begin{pmatrix} 0.00 \\ 0.00 \end{pmatrix}$&\multirow{2}{*}{$5$} 
%Our method : mixed bound 
&{$\begin{pmatrix} 0.00062 \\ 0.00034 \end{pmatrix}$} &{$\begin{pmatrix} 0.035 \\ 0.047 \end{pmatrix}$}&{$\begin{pmatrix} 0.036 \\ 0.047 \end{pmatrix}$}&{$1.1$} 
%Our method : theoretical bound 
&{$\begin{pmatrix} 0.009 \\ 0.009 \end{pmatrix}$} &{$\begin{pmatrix} 0.91 \\ 0.91 \end{pmatrix}$}&{$\begin{pmatrix} 0.92 \\ 0.92 \end{pmatrix}$}&{$0.14$} \\ 
\hline 
\end{tabular} 
 \caption{The error bounds and computing times obtained from different methods on different benchmarks in which: $k$ is the dimension of the output abstraction, $\delta$ is total error bound, $e_1$ is the zero input response error, $e_2$ is the zero state response error, $t$ is the error computing time (in second) and $N$ is the number of simulations.} 
\tablabel{experiment_test} 
\end{table*} 
