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

Table 5

Control performance of pilot test 3 of different controllers.

Controller	LTE	Improvement in LTE (%)	Maximum overshoot	Improvement in maximum overshoot (%)
RVMMPC	2.0042	—	0.0900	—
DLSSVMMPC	1.8965	5.76^a	0.1070	15.89^a
DRNNMPC	1.8274	9.67^b	0.1090	17.43^b
PI	1.2386	61.81^c	0.2220	59.46^c

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