Table 4: MPC controller design parameters.
Parameter | Value |
---|---|
Prediction horizon (NP) | 30 |
Control horizon (NC) | 2 |
Control interval | 0.2 |
Controller sampling time | 0.10 sec |
Output constraint (Level) | ≤ 15.0 cm |
Control input constraint (VP) | ≤ 30.00 V |
Input weight penalty | 0 |
Output weight penalty | 1 |