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. Author manuscript; available in PMC: 2011 Jul 1.
Published in final edited form as: IEEE Trans Control Syst Technol. 2011 Jul 1;19(4):891–901. doi: 10.1109/TCST.2010.2052256

Fig. 4.

Fig. 4

(a) Results obtained for the MPC controller with base tuning parameters (Test Case 1 N = 1, δ = 1, λ = 10; upper diagram). (b) Test Case 2 results obtained for the MPC controller with improved tuning parameters (N = 5, δ = 1, λ = 50).