Novel Predictive Control for the IPMSM Fed by the 3L-SNPC Inverter for EVAs: Modified Lyapunov Function, Computational Efficiency, and Delay Compensation

Algorithm 2

Proposed CMI-FMPC-SVV.

	Require: , , , ;
	Extrapolation of references and ;
	% Initialize the values of and ;
	Set ; ;
	for i = 1 : 21 do
	Compute predictions: and ;
	Calculate the current error ;
	Evaluate the Lyapunov candidate function: , , ;
	ifthen
	Prediction of and ;
	Predict , , and ;
	Estimate ;
	Evaluate and store the cost function value;
	end if
	end for
	Select and apply the optimal switching state ;