Classical NMPC

Parameterized NMPC

test 1: $N_y=N_u=10$

0.804

0.102

MCT (s)

1.394

0.122

CT_∞ (s)

test 2: $N_y=N_u=20$

MCT (s)

3.723

0.201

CT_∞ (s)

4.918

0.215

test 3: $N_y=N_u=30$

MCT (s)

9.158

0.301

CT_∞ (s)

11.446

0.322