Table 2.

Parameters of AMPC and RPME.

Parameters of RPME	Parameters of AMPC
•Model structure: ARX •No of parameters in A(q) = 3 •No of parameters in B(q) = 3 •Parameter covariance matrix = 1 •Sample time = 0.5 •Estimation method: forgetting factor •Forgetting factor:0.01	•Prediction horizon = 4, •Control horizon = 2, •Ts = 0.5, •Weight of manipulated variable = 5.4595, •Weight of output variable = 0.0183 •Optimal cost = 0.004034