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 |
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