Model Predictive Engine Air-Ratio Control Using Online Sequential Relevance Vector Machine

Table 3

Control performance of pilot test 1 of different controllers.

Controller	LTE	Improvement in LTE (%)	Maximum overshoot	Improvement in maximum overshoot (%)
RVMMPC	2.1328	—	0.0580	—
DLSSVMMPC	2.0317	4.98^a	0.0720	19.44^a
DRNNMPC	1.9665	8.46^b	0.0890	34.83^b
PI	1.5485	37.73^c	0.1500	61.33^c

^aRVMMPC over DLSSVMMPC.
^bRVMMPC over DRNNMPC.
^cRVMMPC over PI.