Design and Implementation of Recursive Model Predictive Control for Permanent Magnet Synchronous Motor Drives

Table 2

RMPC/MPC computing time (single prediction horizon).

		RMPC computing time (s)	MPC computing time (s)
5	20	0.00065	0.091
10	20	0.00079	0.189
15	20	0.00081	0.95
20	20	0.00088	0.088
20	35	0.0015	>7
20	40	0.00085	>7