Skip to main content
. Author manuscript; available in PMC: 2015 Dec 1.
Published in final edited form as: Control Eng Pract. 2014 Dec 1;33:161–173. doi: 10.1016/j.conengprac.2014.09.011

Figure 5.

Figure 5

Comparison of closed-loop responses obtained from an eight level hybrid MPC (solid, blue) with continuous MPC (dash, black) when tuning parameters are (αr, αd, fa) = (0.5, 0.5, 0.5). The setpoint is shown by a dashed red line.