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

Table 3

Performance of our algorithm for Example 2.

= 5	0.0333		7.6372	5.6111
= 6	0.0500		7.1483	3.3522
= 7	0.1556		7.3093	3.0754
= 8	0.0889		7.2294	2.8064
= 9	0.1379		7.0314	4.3614
= 10	0.2278		6.3084	2.1019