Table 3.

Tuning Parameters for the Regular Model Predictive Control and Multistage Model Predictive Control.

Parameter	rMPC	MS-MPC	Parameter	rMPC	MS-MPC
$N_{\mathrm{en}}$	N.A.	5	${\mathrm{\tau }}_{\mathrm{r}}^{+}$	25 min	25 min
$N_{\mathrm{p}}$	24	24	$u_{\min }$	$-u_{\mathrm{b}}$	$-u_{\mathrm{b}}$
$N_{\mathrm{c}}$	18	18	∆$u_{\max }$	50	50
${\mathrm{\lambda }}_1$	$1750/u_{\mathrm{b}}$	$1750/u_{\mathrm{b}}$	$y_{\min }$	70	70
${\mathrm{\kappa }}_1$	100	100

Abbreviations: r-MPC, regular model predictive control; MS-MPC, multistage model predictive control.