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

Table 4

Performance of the PE algorithm for Example 2.

PE1	0.0167		7.0241	3.1902
PE25	0.0333		4.0917	0.2765
PE50	0.2389		2.8095	0.1422
PE100	0.2278		1.7481	0.0967
PE200	0.4389		1.2293	0.0431