Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane

Table 3

Comparison of AUV diving EC.

Sampling instant	EC1 (J)	EC2 (J)	EC3 (J)
		()	()
30	2.7926	3.3425 (19.69%)	3.8365 (37.38%)
68	3.3593	4.7944 (29.93%)	5.8165 (73.15%)
100	14.6156	30.3467 (107.63%)	42.6749 (191.98%)
200	94.3112	165.1662 (75.13%)	216.9435 (129.71%)
500	372.6770	624.8213 (67.66%)	792.4392 (112.63%)