Costate Estimation of PMP-Based Control Strategy for PHEV Using Legendre Pseudospectral Method

Table 2

Computation time and accuracy of different LGL nodes.

Number of nodes	Computation time/s	/g	error/g
6122	462	2596.2
9183	1072	1572.71
12244	2796	770.60	65.75
18366	4932	741.35	36.50
24488	10932	729.46	24.61
DP	1066	704.85	/