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

Algorithm 2

Robust FCS-MPC-DEC.

	% Initialize the values of , and current error ;
	; ; ;
	For i = 1 to 27 do
	Calculate the current error based on equation (32);
	Predict the modified and using the current
	error and equations (31) and (25);
	End
	Select and applied the optimal switching state ;