Information Technology Reference
In-Depth Information
0.2
P=20,M=10
0.15
0.1
0.05
0
2
4
6
8
10
12
14
16
18
20
predictive horizon
Fig. 2. Values of the cost function in a prediction horizon of RMPC when P is 20 and
Mis10
0.2
P=20,M=20
0.15
0.1
0.05
0
2
4
6
8
10
12
14
16
18
20
predictive horizon
Fig. 3. Values of the cost function in a prediction horizon of RMPC when P is 20 and
Mis20
information beyond present step is unknown for RMPC. If P is larger than M ,
the performance of CVs out of manipulated horizon can not guaranteed.
When RMPC consider all CVs, it is P is 20 and M is 20 in this example, the
values of the cost function in a prediction horizon of RMPC is shown in Fig.3.
When M is equal to P , the algorithm can achieve satisfied result.
The computational time of one prediction horizon under different conditions
for RMPC and MPC is shown in Table.2. The computational time of RMPC is
much less than that of MPC. Furthermore, the computational time of RMPC
shows small increases with the increase on M and P . So the advantage of
RMPC in computational time is more apparent as M and P increase. It should
be mentioned that the computational time of RMPC is longer than 0 . 2 ms .
Search WWH ::




Custom Search