(a)
(b)
(c)
(d)
Figure 6:
RMPC of the unstable Rijke tube with different length in the experiment. The RMPC has a prediction horizon of
𝑁
=
4
and uses a robust state observer. The maximum calculation time for
𝑙
=
1
.
2
m
is
3
.
3
5
×
1
0
−
5
s
and for
𝑙
=
1
.
3
6
5
m
1
.
9
×
1
0
−
4
s
.