Research Article
Convergence Guaranteed Nonlinear Constraint Model Predictive Control via I/O Linearization
Table 2
Left: CPU time of the entire simulation. Right: sum squared output error (SSE) in the simulation.
| Predictive horizon | CPU time | SSE | One-step constraints | IOFL MPC | SQP | One-step constraints | IOFL MPC | SQP |
| 10 | 0.1563 | 0.2011 | 0.3054 | 11.4181 | 11.4045 | 11.4042 | 12 | 0.1719 | 0.2407 | 0.3602 | 11.4180 | 11.4034 | 11.4031 | 14 | 0.2031 | 0.2795 | 0.4415 | 11.4177 | 11.4026 | 11.4018 | 16 | 0.2614 | 0.3306 | 0.5728 | 11.4130 | 11.4019 | 11.4003 |
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