Convergence Guaranteed Nonlinear Constraint Model Predictive Control via I/O Linearization

Table 2

Left: CPU time of the entire simulation. Right: sum squared output error (SSE) in the simulation.

Predictive horizon	CPU time			SSE
	One-step constraints	IOFL MPC	SQP	One-step constraints	IOFL MPC	SQP
10	0.1563	0.2011	0.3054	11.4181	11.4045	11.4042
12	0.1719	0.2407	0.3602	11.4180	11.4034	11.4031
14	0.2031	0.2795	0.4415	11.4177	11.4026	11.4018
16	0.2614	0.3306	0.5728	11.4130	11.4019	11.4003