Model Predictive Control with a Relaxed Cost Function for Constrained Linear Systems

Table 2

Execution time comparison with previous works.

MPC	Total (s)	Computation of (s)	Percentage consumption (%)
[5]	2.919	1.936	66.3
[22]	2.907	2.160	74.3
This work	0.892	0.012	1.3