Dividing Genetic Computation Method for Robust Receding Horizon Control Design

<table>Sampling functions <svg height="10.9125" id="M122" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 11.7875 10.9125" width="11.7875" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,10.9125)">
<g transform="translate(72,-63.27)">
<text transform="matrix(1,0,0,-1,-71.95,63.32)">
<tspan style="font-size: 12.50px; " x="0" y="0">Ψ</tspan>
</text>
</g>
</g>
</svg> and their interpolations (<svg height="12.8875" id="M123" style="vertical-align:-1.76814pt" version="1.1" viewbox="0 0 67.074997 12.8875" width="67.074997" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,12.8875)">
<g transform="translate(72,-61.69)">
<text transform="matrix(1,0,0,-1,-71.95,63.5)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑚</tspan>
<tspan style="font-size: 12.50px; " x="12.340461" y="0">=</tspan>
<tspan style="font-size: 12.50px; " x="24.38085" y="0">1</tspan>
<tspan style="font-size: 12.50px; " x="30.632351" y="0">,</tspan>
<tspan style="font-size: 12.50px; " x="35.8461" y="0">2</tspan>
<tspan style="font-size: 12.50px; " x="42.097603" y="0">,</tspan>
<tspan style="font-size: 12.50px; " x="47.298847" y="0">3</tspan>
</text>
</g>
</g>
</svg>) (<svg height="6.8874998" id="M124" style="vertical-align:-0.0627pt" version="1.1" viewbox="0 0 8.125 6.8874998" width="8.125" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,6.8875)">
<g transform="translate(72,-66.49)">
<text transform="matrix(1,0,0,-1,-71.95,66.6)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝜏</tspan>
</text>
</g>
</g>
</svg>: sampling interval).</table>

Applied Computational Intelligence and Soft Computing

fig3

Figure 3

Figure 3: Dividing Genetic Computation Method for Robust Receding Horizon Control Design 