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

Table 4

Control performance of pilot test 2 of different controllers.

Controller	LTE	Improvement in LTE (%)	Maximum overshoot	Improvement in maximum overshoot (%)
RVMMPC	2.1699	—	0.0490	—
DLSSVMMPC	2.1158	2.56^a	0.0570	14.04^a
DRNNMPC	2.0523	5.73^b	0.0650	24.62^b
PI	1.6092	34.84^c	0.1470	66.67^c

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