Automatic Offline Formulation of Robust Model Predictive Control Based on Linear Matrix Inequalities Method

Table 2

The convergence speed.

𝑘	1	10	20	30
𝑥(𝑘)	[0.500;0]	[0.2254;−0.1997]	[0.0651;−0.1038]	[−0.0004;−0.0054]
Φ(𝑘)=𝑥(𝑘)^𝑇𝑄𝑘^−1𝑥(𝑘)	0.2499	0.0876	0.0152	2.3162𝑒−005
Φ(𝑘+1)/Φ(𝑘)	0.3504	0.1964	0.0019	0.0306