Robust Multiobjective Model Predictive Control with Computation Delay Compensation for Electric Vehicle Applications Using PMSM with Multilevel Inverter

Algorithm 1

Standard FCS-MPC-ICF.

	Read and extrapolate and by using equations (16) and (24);
	Measure , and ;
	% Initialize the values of and
	; ;
	For i = 1 to 27 do
	Calculate based on equation (12);
	Predict and from equations (14) and (25);
	Evaluate the candidate Lyapunov function: V(k + 1), V(k), using equations (27) and (28);
	if ((V(k) > ) ( < 0))  ((V(k) < ) (V(k + 1) ))  then
	Predict and based on equations (17) and (26);
	Calculated from Table 2;
	Calculate from equation (23);
	Compute the cost functions , , and based on equations (19)–(22);
	Evaluate the cost function by using equation (18);
	End
	End
	Select and applied the optimal switching state ;