Research Article

Robust Tube-Based MPC with Piecewise Affine Control Laws

Table 2

Mean online computation time for each control step.

Method in [2]Proposed method

1 0.0125 s  s
2 0.0131 s  s
3 0.0140 s  s
4 0.0158 s  s
5 0.0162 s  s
6 0.0183 s  s
7 0.0191 s  s
8 0.0204 s  s
9 0.0215 s  s