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 |