Efficient Model Predictive Algorithms for Tracking of Periodic Signals

Table 3

Summary of 𝐽_𝑠 values for various cases studied.

	Steady-state cost 𝐽𝑠		𝑁𝑎	Number of
	at 𝑡<1.0s	at 𝑡<1.5s		Variables	Constraints
MVR	0.1156	53.276
MPC, receding horizon quadratic programming	0.0178	8.7527	3	100 (𝑁𝑝×2)	200 (𝑁𝑝×2×2)
MPC, dynamic policy (up to 9th harmonics)	0.0225	9.0273	1	𝑛𝑣̂=20 (5×2×2)	200 (𝑁𝑝×2×2)
MPC, dynamic policy (up to 29th harmonics)	0.0182	8.7640	2	𝑛𝑣̂=60 (15×2×2)	200 (𝑁𝑝×2×2)
Transient subproblem				10 (𝑁𝑢×2)	20 (𝑁𝑢×2×2)