Fast Model Predictive Control Combining Offline Method and Online Optimization with K-D Tree

Table 1

Performance of our algorithm for Example 1.

= 5	0.7625	0.0524	17.2225	4.3900
= 6	0.7965	0.0515	9.4324	4.2019
= 7	0.7406	0.0541	10.0620	4.6899
= 8	0.8209	0.0424	14.2288	6.3138
= 9	0.9257	0.0431	13.9681	5.3240
= 10	0.9027	0.0334	9.8521	5.1914