Research on Model Predictive Control Method for Vehicle Lateral Stability Based on Hardware-in-the-Loop Test

<div>Comparison of motor current. (a) MPC controlled motor current. (b) PID controlled motor current. (c) Uncontrolled motor current. (d) Mean square root of motor current.</div>

Mathematical Problems in Engineering

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Figure 6

Figure 6: Research on Model Predictive Control Method for Vehicle Lateral Stability Based on Hardware-in-the-Loop Test 