Improved Model Predictive Speed Control of a PMSM via Laguerre Functions

Table 2

Constant control horizon, .

Control horizon	N	Required	Time
20	2	0.9048	37.17
20	4	0.8187	38.54
20	6	0.7408	38.66
20	8	0.6703	39.71
20	10	0.6065	39.86