Fault Tolerance Automotive Air-Ratio Control Using Extreme Learning Machine Model Predictive Controller

Table 2

Performance of different controllers for the pilot test.

Controller	Lambda sensor	TI	Maximum overshoot
FTC	Under failure	2.1022	0.1188
Traditional system	Under failure	1.6244	0.1235
DNMPC	Normal	2.2896	0.1267
FTC	Normal	2.3309	0.1074